Merzi, Mehmet Alp (Marmara University), Gazi, Veysel (Yildiz Technical University, Faculty of Electrical and Electroni), Fedele, Giuseppe (University of Calabria), D'Alfonso, Luigi (UNIVERSITA' DELLA CALABRIA, UNICAL), Bono, Antonio (Università della Calabria)

Target Capturing in an Ellipsoidal Region with a Swarm of Quadrotor UAVs

Scheduled for presentation during the Regular Session "Swarms" (FrA1), Friday, June 24, 2022, 09:00−09:20, Asimon

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 26, 2024

Abstract

In a recent paper [1], we developed a target capturing strategy for swarms composed of double integrator agents. In this paper, we build on the results in [1] and focus on the implementation of the methodology for a swarm composed of quadrotor UAVs. We utilize both MATLAB and ROS environments under realistic conditions for that purpose. In ROS, we utilize Ultra-Violet LED blinkers based Ultra-Violet Direction And Ranging (UVDAR) system for relative localization. The sensing and localization errors serve as realistic errors for the assumptions in [1] for the uncertainties of the velocity and acceleration of the target. We verify in a realistic scenario that the agents converge to a user-defined ellipsoidal ring around the target despite the uncertainties and the more realistic agent dynamics.