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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

9

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

5284-5291

Kód UT WoS článku

001209579600005

EID výsledku v databázi Scopus

2-s2.0-85192502657