Fast Swarming of UAVs in GNSS-denied Feature-poor Environments without Explicit Communication

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00374772" target="_blank" >RIV/68407700:21230/24:00374772 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3390596" target="_blank" >https://doi.org/10.1109/LRA.2024.3390596</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3390596" target="_blank" >10.1109/LRA.2024.3390596</a>

Result language
angličtina
Original language name
Fast Swarming of UAVs in GNSS-denied Feature-poor Environments without Explicit Communication
Original language description
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV neighborhood is proposed to achieve robust onboard mutual perception and flocking state feedback control, which is designed to decrease the inter-agent oscillations common in standard reactive swarm models employed in fast collective motion. The novel swarming methodology is supplemented with an enhanced Multi-Robot State Estimation (MRSE) strategy to increase the reliability of the purely onboard localization, which may be unreliable in real environments. Although MRSE and the neighborhood model may rely on information exchange between agents, we introduce a communication-less version of the swarming framework based on estimating communicated states to decrease dependence on the often unreliable communication networks of large swarms. The proposed solution has been verified by a set of complex real-world experiments to demonstrate its overall capability in different conditions, including a UAV interception-motivated task with a group velocity reaching the physical limits of the individual hardware platforms.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

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
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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