Intelligent Swarm: Concept, Design and Validation of Self-Organized UAVs Based on Leader-Followers Paradigm for Autonomous Mission Planning

Unmanned Aerial Vehicles (UAVs), commonly known as drones, are omnipresent and have grown in popularity due to their wide potential use in many civilian sectors. Equipped with sophisticated sensors and communication devices, drones can potentially form a multi-UAV system, also called an autonomous swarm, in which UAVs work together with little or no operator control. According to the complexity of the mission and coverage area, swarm operations require important considerations regarding the intelligence and self-organization of the UAVs. Factors including the types of drones, the communication protocol and architecture, task planning, consensus control, and many other swarm mobility considerations must be investigated. While several papers highlight the use cases for UAV swarms, there is a lack of research that addresses in depth the challenges posed by deploying an intelligent UAV swarm. Against this backdrop, we propose a computation framework of a self-organized swarm for autonomous and collaborative missions. The proposed approach is based on the Leader-Followers paradigm, which involves the distribution of ROS nodes among follower UAVs, while leaders perform supervision. Additionally, we have integrated background services that autonomously manage the complexities relating to task coordination, control policy, and failure management. In comparison with several research efforts, the proposed multi-UAV system is more autonomous and resilient since it can recover swiftly from system failure. It is also reliable and has been deployed on real UAVs for outdoor survey missions. This validates the applicability of the theoretical underpinnings of the proposed swarming concept. Experimental tests carried out as part of an area coverage mission with 6 quadcopters (2 leaders and 4 followers) reveal that the proposed swarming concept is very promising and inspiring for aerial vehicle technology. Compared with the conventional planning approach, the results are highly satisfactory, highlighting a significant gain in terms of flight time, and enabling missions to be achieved rapidly while optimizing energy consumption. This gives the advantage of exploring large areas without having to make frequent downtime to recharge and/or charge the batteries. This manuscript has the potential to be extremely useful for future research into the application of unmanned swarms for autonomous missions.