2020
DOI: 10.1109/access.2020.3024953
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Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones

Abstract: Two important aspects in dealing with autonomous navigation of a swarm of drones are collision avoidance mechanism and formation control strategy; a possible competition between these two modes of operation may have negative implications for success and efficiency of the mission. This issue is exacerbated in the case of distributed formation control in leader-follower based swarms of drones since nodes concurrently decide and act through individual observation of neighbouring nodes' states and actions. To dyna… Show more

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Cited by 27 publications
(18 citation statements)
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“…To evaluate the effectiveness of the proposed technique, we implemented the well-known techniques of shortest path based formation morphing and collision avoidance (EFMCA) and leader-follower formation (IOAA) presented in [10] and [14] and set the results side by side with the obtained results from the proposed technique in the similar experimental setup. Here we evaluate the performance in two different setups: normal and complex.…”
Section: Simulation and Resultsmentioning
confidence: 99%
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“…To evaluate the effectiveness of the proposed technique, we implemented the well-known techniques of shortest path based formation morphing and collision avoidance (EFMCA) and leader-follower formation (IOAA) presented in [10] and [14] and set the results side by side with the obtained results from the proposed technique in the similar experimental setup. Here we evaluate the performance in two different setups: normal and complex.…”
Section: Simulation and Resultsmentioning
confidence: 99%
“…Our previous works have focused on: (1) energy-efficient formation morphing by systematic integration of formation control and collision avoidance for formation-collision co-awareness and the use of non-rigid mapping by utilizing a thin-plate splines (TPS) based algorithm to minimize deformation in the swarm [10] ; (2) reducing the energy consumption owing to sensor(s) usage in the swarm by introducing the concepts of translational coordinates based navigation and adaptive consciousness in the agents [23] , [36] ; and (3) dynamic formation reshaping for collision avoidance while passing through the available gaps between the obstacles without slowing down [37] .…”
Section: Problem Formulationmentioning
confidence: 99%
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