Mixed-Integer Representations for Mission Constraints in a Multi-Agent Team

In this paper we consider a multi-UAV formation whose goal is to efficiently gather data from sensors deployed in a cluttered environment while in the same time keeping communication with ground terminals. We formulate these requirements and constraints as a nonlinear constrained optimization problem and recast them in a mixed-integer form with the help of a hyperplane arrangement construction. Particular attention is given to line-of-sight constraints which ensure permanent communication between UAVs and ground terminals. Reference trajectories are generated in simulation over illustrative examples.