Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Than a Single Robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00384665" target="_blank" >RIV/68407700:21230/25:00384665 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2025.3562786" target="_blank" >https://doi.org/10.1109/LRA.2025.3562786</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2025.3562786" target="_blank" >10.1109/LRA.2025.3562786</a>

Result language
angličtina
Original language name
Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Than a Single Robot
Original language description
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative information only. We propose to fuse decentralized state estimation with robust mutual perception and onboard sensor data to maintain accurate state awareness despite intermittent localization failures. Thus, the relative information used to estimate the lateral state of UAVs enables the identification of the unambiguous state of UAVs with respect to the local constellation. The resulting behavior reaches velocity consensus, as this task can be referred to as the double integrator synchronization problem. All disturbances and performance degradations except a uniform translation drift of the swarm as a whole is attenuated which is enabling new opportunities in using tight cooperation for increasing reliability and resilience of multi-UAV systems. Simulations and real-world experiments validate the effectiveness of our approach, demonstrating its capability to sustain cohesive swarm behavior in challenging conditions of unreliable or unavailable primary localization.
Czech name
—
Czech description
—

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
<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)