Self-Organized UAV Flocking Based on Proximal Control

Thulio Amorim, Tiago Nascimento, Pavel Petracek, Giulia De Masi, Eliseo Ferrante, Martin Saska

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we address the problem of achieving cohesive and aligned flocking (collective motion) with a swarm of unmanned aerial vehicles (UAVs). We propose a method that requires only onboard sensing of the relative range and bearing of neighboring UAVs, and therefore requires only proximal control for achieving formation. Our method efficiently achieves flocking in the absence of any explicit orientation information exchange (alignment control), and achieves flocking in a random direction without externally provided directional information. To implement proximal control, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions. Our approach may be used independently from any external positioning system such as GNSS or Motion Capture, and can therefore be used in GNSS-denied environments. The performance of the approach was tested in real-world conditions by experiments with UAVs that rely only on a relative visual localization system called UVDAR, proposed by our group. To evaluate the degree of alignment and cohesiveness, we used the order metric and the steady-state value.

Original languageEnglish (US)
Title of host publication2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1374-1382
Number of pages9
ISBN (Electronic)9780738131153
DOIs
StatePublished - Jun 15 2021
Event2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Greece
Duration: Jun 15 2021Jun 18 2021

Publication series

Name2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Conference

Conference2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Country/TerritoryGreece
CityAthens
Period6/15/216/18/21

Keywords

  • flocking
  • Micro aerial vehicles
  • self-organization
  • swarm robotics
  • unmanned aerial vehicles

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Aerospace Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Self-Organized UAV Flocking Based on Proximal Control'. Together they form a unique fingerprint.

Cite this