Self-Organized UAV Flocking Based on Proximal Control

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353587" target="_blank" >RIV/68407700:21230/21:00353587 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS51884.2021.9476847" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476847</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476847" target="_blank" >10.1109/ICUAS51884.2021.9476847</a>

Result language
angličtina
Original language name
Self-Organized UAV Flocking Based on Proximal Control
Original language description
In this work, we address the problem of achieving cohesive and aligned flocking (collective motion) with a swarm of unmanned aerial vehicles (UAVs). We propose a method that requires only onboard sensing of the relative range and bearing of neighboring UAVs, and therefore requires only proximal control for achieving formation. Our method efficiently achieves flocking in the absence of any explicit orientation information exchange (alignment control), and achieves flocking in a random direction without externally provided directional information. To implement proximal control, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions. Our approach may be used independently from any external positioning system such as GNSS or Motion Capture, and can therefore be used in GNSS-denied environments. The performance of the approach was tested in real-world conditions by experiments with UAVs that rely only on a relative visual localization system called UVDAR, proposed by our group. To evaluate the degree of alignment and cohesiveness, we used the order metric and the steady-state value.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-0-7381-3115-3
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
9
Pages from-to
1374-1382
Publisher name
IEEE Xplore
Place of publication
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Event location
Athens
Event date
Jun 15, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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