Table 1 Notational conventions
From: Dual-game based UAV swarm obstacle avoidance algorithm in multi-narrow type obstacle scenarios
Notation | Description |
|---|---|
\(N\) | Number of UAVs |
\(q_{i}\) | Position of UAV \(i\) |
\(p_{i}\) | Speed of UAV \(i\) |
\(q_{i,k}^{\beta }\) | Position of obstacle \(k\) formed by the projection of UAV \(i\) |
\(p_{i,k}^{\beta }\) | Speed of obstacle \(k\) formed by the projection of UAV \(i\) |
\(N ^{\alpha } _{ i }\) | Neighboring set of UAV \(i\) |
\(r\) | Interaction range of the UAV |
\(r ^{\prime }\) | Interaction range of the UAV to obstacles |