The document discusses using Python, ROS, and mixed integer linear programming (MILP) for coordinating unmanned aerial vehicles (UAVs). Python is used for its simplicity and features like lists and functions. ROS provides a framework for coordinating UAV nodes. MILP is used to model the UAV coordination problem and find optimal trajectories that minimize time while avoiding collisions. Several scenarios are modeled using MILP, demonstrating how it can find paths for UAVs to visit waypoints in order while avoiding each other.

1. Ben Gardiner, Travis Cooper, Matthew Haveard, Waseem Ahmad Snakes and Turtles ROS, Python, and MILP

3. Snakes: Python's Usefulness

4. Turtles: Adventures in ROS

5. MILP: The Algorithm that ties it together

6. Results

7. Conclusion

9. Readability

10. Function and variable use

11. List Comprehension

16. Lists are mutable

17. Lists can contain other lists

21. Assign a function to a variable

22. Ability to pass functions as arguments

24. Coordinator

25. Control Menu

27. Command Updates Services

28. Plane Creation

29. Load Waypoints

30. Collision Avoidance

32. The Main Event Mixed Integer Linear Programming

33. The Elusive A and B

34. What A and B do UAV State Vector Force Vector

35. How A Works Position and Velocity

36. How B Works Acceleration and Time

37. Minimum Speed

38. Time Trajectory

39. Time Minimize

40. Time Minimize

41. Vehicle Avoidance

42. Maximum Speed/Force

43. Visiting Waypoints in Order

44. Results Without Minimum Speed

45. Results With Minimum Speed

46. Results Unordered Waypoints

47. Results Ordered Waypoints

48. Results Scenario 1, Setup

49. Results Scenario 1, Path dt = 4, Nt = 20

50. Results Scenario 2, Setup

51. Results Scenario 2, Path dt = 4, Nt = 13, Comptime = 2.19s

52. Results Scenario 3, Setup

53. Results Scenario 3, Path dt = 4, Nt = 22, Comptime = 20.0s (limit)

54. Results Scenario 3, Path dt = 4, Nt = 22, Comptime = 10.0s (limit)

55. Results Scenario 3, Path dt = 8, Nt = 15, Comptime = 3.02s (limit)

56. Results Scenario 4, Setup

57. Results Scenario 4, Path dt = 4, Nt = 22, Comptime = 3.88s

58. Results Restricted Waypoints

59. Results Unrestricted Waypoints

60. Results Obstacle Avoidance

61. Conclusions Scenario 1, Path dt = 4, Nt = 20, Comptime = 0.13s