A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00382699" target="_blank" >RIV/68407700:21230/24:00382699 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/s10846-024-02108-0" target="_blank" >https://doi.org/10.1007/s10846-024-02108-0</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-024-02108-0" target="_blank" >10.1007/s10846-024-02108-0</a>

Result language

angličtina

Original language name

A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration

Original language description

In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without externally provided directional information exchange (alignment control). The method relies on minimalistic sensory requirements as it uses only the relative range and bearing of swarm agents in local proximity obtained through onboard sensors on the UAV. Thus, our method is able to stabilize and control the flock of a general shape above a steep terrain without any explicit communication between swarm members. To implement proximal control in a three-dimensional manner, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions between robots. The performance of the proposed approach was tested in real-world conditions by experiments with a team of nine UAVs. Experiments also present the usage of our approach on UAVs that are independent of external positioning systems such as the Global Navigation Satellite System (GNSS). Relying only on a relative visual localization through the ultraviolet direction and ranging (UVDAR) system, previously proposed by our group, the experiments verify that our system can be applied in GNSS-denied environments. The degree achieved of alignment and cohesiveness was evaluated using the metrics of order and steady-state value.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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

Name of the periodical

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Volume of the periodical

110

Issue of the periodical within the volume

2

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

14

Pages from-to

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UT code for WoS article

001232225400002

EID of the result in the Scopus database

2-s2.0-85193740850