| Summary: | Planning and controlling traffic for multiple drones in a system without intercommunication betweenthe drones is a daunting proposition. This paper presents a thesis work developing a multi-dronecontrol system capable of planning and executing missions in a 3-D aerial space. Generic 2-D pathplanning algorithms are extended into the 3-D space to handle multiple parts of the path planning,creating highways through a gridded area which is used as obstacles for other drones.Three path planning algorithm are compared with other each other wavefront, Astar and po-tential fields, scheduling is also documented to find the optimal drone amount that the system canhandle given an area of interest, this is done to see how often and for how long drones stand idle.Simulations and equations have been implemented to verify and compare results.
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