Lizzio, Fausto Francesco (Politecnico di Torino), Capello, Elisa (Politecnico di Torino), Guglieri, Giorgio (Politecnico di Torino)

Implementation and Performance Evaluation of a Consensus Protocol for Multi-UAV Formation with Communication Delay

Scheduled for presentation during the Regular Session "UAS Applications IV" (FrC5), Friday, June 24, 2022, 15:20−15:40, Elafiti

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Consensus theory represents a relevant strategy for the control of distributed multi-UAV missions, whose main feature is the local inter-agent communication. Besides the physical characteristics of the swarm, a proper simulation environment must take into account such communication properties. In this paper, a formation consensus algorithm is implemented in ROS/Gazebo through the use of docker containers, so that the features of a real network can be included in the simulation. Performance metrics are provided to help researchers to validate the impact of communication delays on the performance of the algorithm.