Ant Colony Optimization

Designed and Implemented a Decentralized Cooperative Path Planning algorithm, which allows each UAV to coordinate effectively in an area where communication with Ground Control Station is constrained.
An Ant Colony Optimization based algorithm was implemented which incorporated manoeuvrability, collision avoidance, and threat avoidance constraints.
Generated paths for each UAV were validated by using Hardware in the Loop testing on multiple UAVs by using Dronekit-Python and Mission Planner