Outdoor flocking and formation flight with autonomous aerial robots

G. Vásárhelyi, Cs Virágh, G. Somorjai, N. Tarcai, T. Szörényi, T. Nepusz, T. Vicsek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

97 Citations (Scopus)

Abstract

We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information received from other robots in the vicinity. We do not use central data processing or control; instead, all the necessary computations are carried out by miniature on-board computers. The only global information the system exploits is from GPS receivers, while the units use wireless modules to share this positional information with other flock members locally. Collective behavior is based on a decentralized control framework with bio-inspiration from statistical physical modelling of animal swarms. In addition, the model is optimized for stable group flight even in a noisy, windy, delayed and error-prone environment. Using this framework we successfully implemented several fundamental collective flight tasks with up to 10 units: i) we achieved self-propelled flocking in a bounded area with self-organized object avoidance capabilities and ii) performed collective target tracking with stable formation flights (grid, rotating ring, straight line). With realistic numerical simulations we demonstrated that the local broadcast-type communication and the decentralized autonomous control method allows for the scalability of the model for much larger flocks.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3866-3873
Number of pages8
ISBN (Print)9781479969340
DOIs
Publication statusPublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

Fingerprint

Robots
Antennas
Decentralized control
Target tracking
Printed circuit boards
Global positioning system
Scalability
Animals
Communication
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Vásárhelyi, G., Virágh, C., Somorjai, G., Tarcai, N., Szörényi, T., Nepusz, T., & Vicsek, T. (2014). Outdoor flocking and formation flight with autonomous aerial robots. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3866-3873). [6943105] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943105

Outdoor flocking and formation flight with autonomous aerial robots. / Vásárhelyi, G.; Virágh, Cs; Somorjai, G.; Tarcai, N.; Szörényi, T.; Nepusz, T.; Vicsek, T.

IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3866-3873 6943105.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Vásárhelyi, G, Virágh, C, Somorjai, G, Tarcai, N, Szörényi, T, Nepusz, T & Vicsek, T 2014, Outdoor flocking and formation flight with autonomous aerial robots. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943105, Institute of Electrical and Electronics Engineers Inc., pp. 3866-3873, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6943105
Vásárhelyi G, Virágh C, Somorjai G, Tarcai N, Szörényi T, Nepusz T et al. Outdoor flocking and formation flight with autonomous aerial robots. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3866-3873. 6943105 https://doi.org/10.1109/IROS.2014.6943105
Vásárhelyi, G. ; Virágh, Cs ; Somorjai, G. ; Tarcai, N. ; Szörényi, T. ; Nepusz, T. ; Vicsek, T. / Outdoor flocking and formation flight with autonomous aerial robots. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 3866-3873
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