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Swarm Coordination with Multiple Quadrotors

Soon Hooi Chiew, Tiauw Hiong Go

Abstract


Experiment results for swarming of quadrotors are presented in this paper. A decentralized approach is employed such that the number of agnets in the swarm is scalable. Artificial potential field is used to describe the inter-agent interaction due to its simplicity. The proposed scheme also eliminates the need of a distinct leader in the swarm. Due to the reactive behavior of the agents to its neighbors, any agent can act a a leader, this improving the robustness of the swarm to individual failure. Separation distance between the quadrotors is also presented to show that a safe separation is kept to avoid inter-agent collision.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.777

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