Karydes, Florian (Polytechnique Montréal), Saussie, David (Ecole Polytechnique de Montreal)

Distributed Algorithm for the Navigation of a Swarm of Nano-Quadrotors in Cluttered Environments

Scheduled for presentation during the Regular Session "Swarms" (WeA3), Wednesday, September 2, 2020, 10:40−11:00, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this article, a simple distributed solution is proposed for the leader-follower navigation of a swarm of nano-quadrotors in cluttered environments. Using only one-hop neighbors information and nearby obstacles detection, control inputs are computed to ensure collision avoidance, obstacle avoidance, and connectivity maintenance. In addition, a ranking system is introduced so that each follower is aware of the leader position. This feature enhances the cohesion of the swarm which becomes critical when operating a large one. Also, simple distributed rules for changing the swarm topology are designed so that the swarm can squeeze when passing through narrow spaces. The effectiveness of the proposed solution is demonstrated in simulations with swarms up to hundred agents.