Towards Drone Flocking Using Relative Distance Measurements

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...

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Bibliographic Details
Published inLeveraging Applications of Formal Methods, Verification and Validation. Adaptation and Learning Vol. 13703; pp. 97 - 109
Main Authors Brandstätter, Andreas, Smolka, Scott A., Stoller, Scott D., Tiwari, Ashish, Grosu, Radu
Format Book Chapter
LanguageEnglish
Published Switzerland Springer 2022
Springer Nature Switzerland
SeriesLecture Notes in Computer Science
Subjects
Distributed controller
Drones
Flock
Quadcopters
Swarm
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ISBN3031197585
9783031197581
ISSN0302-9743
1611-3349
DOI10.1007/978-3-031-19759-8_7

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Summary: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.
ISBN:3031197585
9783031197581
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-031-19759-8_7