Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots

Abstract

Abstract. Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challenging when using fixed-wing robots that require continuous forward motion to fly. For such platforms, performing trajectories with forward speed lower than the minimum speed of the robot can only be achieved by acting on its heading turn rate. Synchronizing such highly dynamical systems would typically require position information and entail frequent sensing and communication among robots within the group. Instead here we propose a simple controller that reacts to regular beats received through wireless transmissions. Thanks to these beats, robot headings synchronize over time. Furthermore, these controllers can easily be parameterized to steer and regulate the global progression speed of groups of robots. Experiments are performed both in simulation and using up to five fixed-wing flying robots.

Underwater Robot Swarms: Challenges and Opportunities

“…Although many researchers have been pioneering this field over the past decade, very little demonstrations have been conducted with physical flying platforms. A few noticeable exceptions are Allred et al (2007); Beard et al (2006); Gancet et al (2005); Hauert et al (2010a); Hoffmann et al (2004); How et al (2004); Leven et al (2010); Melhuish and Welsby (2002). Two phases are shown here, in phase I, the robot group is directed to the West.…”

“…Resulting controllers have the advantage of being easier to understand than evolved controllers and can even be mathematically modelled and therefore easily parameterised for a variety of scenarios (Hauert et al, 2009b). In recent work, Hauert et al used reverse-engineering to design controllers for area-coverage (Hauert et al, 2009b), communication relay (Hauert et al, 2009b) and for the synchronisation and steering of groups of flying robots (Hauert et al, 2010a). An outdoor demonstration of 5 swinglets (Fig.…”

Aerial Collective Systems

“…Although many researchers have been pioneering this field over the past decade, very little demonstrations have been conducted with physical flying platforms. A few noticeable exceptions are Allred et al (2007); Beard et al (2006); Gancet et al (2005); Hauert et al (2010a);Hoffmann et al (2004); How et al (2004); Leven et al (2010); Melhuish and Welsby (2002). Two phases are shown here, in phase I, the robot group is directed to the West.…”

An introduction to swarming robotics: application development trends

“…9a) aims at developing swarms of flying robots that can be deployed in disaster areas to rapidly create communication networks for rescuers. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terrains, and benefit from line-of-sight communication (Hauert et al 2010). Another example is the robot car project of Nissan EPORO by a group of robots mimicking the fish movement (Fig.…”