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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

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

Rok uplatnění

2025

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

10

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

6207-6214

Kód UT WoS článku

001484668100005

EID výsledku v databázi Scopus

2-s2.0-105003373101