Authors:
Ema Falomir
1
;
Serge Chaumette
2
and
Gilles Guerrini
3
Affiliations:
1
Bordeaux University and Thales Systèmes Aéroportés, France
;
2
Bordeaux University, France
;
3
Thales Systèmes Aéroportés, France
Keyword(s):
UAV, Swarm, Autonomous Swarm of UAVs, Compactness, Virtual Forces, Distributed Robotic Systems.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
The usage of autonomous unmanned aerial vehicles (UAVs) has recently become a major question. For wide area surveillance missions, a swarm of UAVs can be much more efficient than a single vehicle. In this case, several aircrafts cooperate in order to fulfill a mission while avoiding collisions between each other and with obstacles. This article proposes original distributed mobility strategies for autonomous swarms of UAVs, the goal of which is to fulfill a surveillance mission. Our work is based on virtual forces and our approach allows narrow areas crossing that require a compact formation of the autonomous swarm.