A decentralized algorithm for flocking of Unmanned Aerial Vehicles (UAV) in environments with high obstacle density is proposed in this work. The method combines a local planning loop with bio-inspired swarming rules for navigating a compact UAV flock in a real workspace without relying on external infrastructures, such as motion capture system and GNSS. The group stability and coherence are achieved by employing a purposely designed onboard UVDAR system for mutual localization of teammates in local proximity of each UAV. The required robustness and scalability of the multi-UAV system are therefore achieved without any need for communication among the swarm particle. Such minimal sensory and communication requirements have allowed the system to become a backup technique for centralized multi-robot systems in case of communication and GNSS dropout. The proposed approach has been verified in numerous simulations and real experiments inside a forest that represents one of the most challenging environments for deployment of compact groups of aerial vehicles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Safe Tightly-Constrained UAV Swarming in GNSS-denied Environments


    Contributors:


    Publication date :

    2021-06-15


    Size :

    2663438 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    UAV Waypoint Opportunistic Navigation in GNSS-Denied Environments

    Yang, Yanhao / Khalife, Joe / Morales, Joshua J. et al. | IEEE | 2022


    A Multistatic Ultrasonic Navigation System for GNSS-denied Environments

    Kapoor, Rohan / Gardi, Alessandro G. / Sabatini, Roberto | AIAA | 2019


    GNSS/INS/VO fusion using Gated Recurrent Unit in GNSS denied environments

    Negru, Sorin A. / Geragersian, Patrick / Petrunin, Ivan et al. | AIAA | 2023


    Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination

    Schleich, Daniel / Beul, Marius / Quenzel, Jan et al. | IEEE | 2021


    Cooperative Navigation for an UAV Tandem in GNSS Denied Environments

    Stoven-Dubois, Alexis / Jospin, Laurent / Cucci, Davide A. | British Library Conference Proceedings | 2018