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Multidrone Robust Planning

version 1.0.1 (3.9 MB) by Michele Bolognini
A hierarchical approach to solving path planning problems for multiple autonomous vehicles.


Updated 08 Jul 2021

From GitHub

View license on GitHub

Multidrone Robust Planning Toolbox


  1. Clone the repository or get the toolbox from the MATLAB File Exchange View Multidrone Robust Planning on File Exchange
  2. Install LKH
git clone

This toolbox relies on LKH to solve TSP instances. It is therefore necessary to download it and compile it, so that the resulting LKH script is located in the "LKH" folder. It is available both from the official site and from the related git repository Download the code or clone the repository, then rename the folder and compile it

cd MultidroneRobustPlanning
git clone
tar xvfz LKH-3.0.6.tgz
mv LKH-3.0.6.tgz LKH
cd LKH

Compiling will make the executable available, the file is called 'LKH'.

This toolbox provides functions for planning paths for a set of drones tasked with traversing a set of 3D points in a known and cluttered environment. The algorithm is described in [1].


[1] M. Bolognini, L. Fagiano, M.P. Limongelli (2021). An autonomous, robust, multi-agent UAV pathplanner for inspection of the built environment. ???

Cite As

Michele Bolognini (2021). Multidrone Robust Planning (, GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2021a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.