相关论文: Cellular Formation Maintenance and Collision Avoid…
This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation…
The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays,…
Real-time multi-agent collision-avoidance algorithms comprise a key enabling technology for the practical use of self-organising swarms of drones. This paper proposes a decentralised reciprocal collision-avoidance algorithm, which is based…
We demonstrate formation flying for drone swarm services. A set of drones fly in four different swarm formations. A dataset is collected to study the effect of formation flying on energy consumption. We conduct a set of experiments to study…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
In this paper we study the dynamic version of the covering problem motivated by the coverage of drones' swarm: Let $S$ be a set of $n$ non-negative weighted points in the plane representing users. Also, consider a set $P$ of $m$ disks that…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…
Drone applications continue to expand across various domains, with flocking offering enhanced cooperative capabilities but introducing significant challenges during initial formation. Existing flocking algorithms often struggle with…
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
Formation control problem is one of the most concerned topics within the realm of swarm intelligence, which is usually solved by conventional mathematical approaches. In this paper, however, we presents a metaheuristic approach that…
Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…
Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone…