In this article, a simple distributed solution is proposed for the leader-follower navigation of a swarm of nano-quadrotors in cluttered environments. Using only one-hop neighbors information and nearby obstacles detection, control inputs are computed to ensure collision avoidance, obstacle avoidance, and connectivity maintenance. In addition, a ranking system is introduced so that each follower is aware of the leader position. This feature enhances the cohesion of the swarm which becomes critical when operating a large one. Also, simple distributed rules for changing the swarm topology are designed so that the swarm can squeeze when passing through narrow spaces. The effectiveness of the proposed solution is demonstrated in simulations with swarms up to hundred agents.


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    Title :

    Distributed algorithm for the navigation of a swarm of nano-quadrotors in cluttered environments*


    Contributors:


    Publication date :

    2020-09-01


    Size :

    3222853 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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