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.


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    Titel :

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


    Beteiligte:
    Alp Merzi, M. (Autor:in) / Gazi, Veysel (Autor:in) / Fedele, Giuseppe (Autor:in) / D'Alfonso, Luigi (Autor:in) / Bono, Antonio (Autor:in)


    Erscheinungsdatum :

    2022-06-21


    Format / Umfang :

    2612347 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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