Towards Drone Flocking Using Relative Distance Measurements

被引：5

作者：

Brandstaetter, Andreas ^{[1
]}

Smolka, Scott A. ^{[2
]}

Stoller, Scott D. ^{[2
]}

Tiwari, Ashish ^{[3
]}

Grosu, Radu ^{[1
]}

机构：

[1] TU Wien, Res Div Cyber Phys Syst, Vienna, Austria

[2] SUNY Stony Brook, Dept Comp Sci, Stony Brook, NY 11794 USA

[3] Microsoft, Redmond, WA USA

来源：

LEVERAGING APPLICATIONS OF FORMAL METHODS, VERIFICATION AND VALIDATION. ADAPTATION AND LEARNING, ISOLA 2022, PT III | 2022年 / 13703卷

基金：

欧盟地平线“2020”;

关键词：

Drones; Quadcopters; Flock; Swarm; Distributed controller; BEHAVIOR;

D O I：

10.1007/978-3-031-19759-8_7

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We introduce a method to form and maintain a flock of drones only based on relative distance measurements. This means our approach is able to work in GPS-denied environments. It is fully distributed and therefore does not need any information exchange between the individual drones. Relative distance measurements to other drones and information about its own relative movement are used to estimate the current state of the environment. This makes it possible to perform lookahead and estimate the next state for any potential next movement. A distributed cost function is then used to determine the best next action in every time step. Using a high-fidelity simulation environment, we show that our approach is able to form and maintain a flock for a set of drones.

引用

页码：97 / 109

页数：13

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