Navigation System For Landing A Swarm Of Autonomous Drones On A Movable Surface

In this paper, the reconfiguration of swarms of unmanned aerial vehicles after simultaneous failures of multiple nodes is considered. The objectives of the post-failure reconfiguration are to provide collision avoidance and smooth energy-efficient movement. To incorporate such a mechanism, three different failure recovery algorithms are proposed namely thin plate spline, distance-and time-optimal algorithms. These methods are tested on six swarms, with two variations on failing nodes for each swarm. Simulation results of reconfiguration show that the execution of such algorithms maintains the desired formations with respect to avoiding collisions at run-time. Also, the results show the effectiveness concerning the distance travelled, kinetic energy, and energy efficiency. As expected, the distance-optimal algorithm gives the shortest movements, and the time-optimal algorithm gives the most energy-efficient movements. The thin plate spline is also found to be energy-efficient and has less computational cost than the other two proposed methods. Despite the suggested heuristics, these are combinatorial in nature and might be hard to use in practice. Furthermore, the use of the regularization parameter λ in thin plate spline is also investigated, and it is found that too large values on λ can lead to incorrect locations, including multiple nodes on the same location. In fact, it is found that using λ = 0 worked well in all cases.

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“…The weight matrices Q and R are given in the Appendix. More details are provided in our earlier work [21], [31], [32].…”

Section: A Tracking Control Of Uavsmentioning

confidence: 99%

Energy-Efficient Post-Failure Reconfiguration of Swarms of Unmanned Aerial Vehicles

et al. 2023

Self Cite

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“…While previously developed systems have explored single drone landing, the case of multi-agent landing presents addi-tional challenges. The concept of swarm topology for docking was therefore proposed by Tahir et al [24]. Leon-Blanko et al [25] investigated the issue of a multi-drone team logistics, where a team of UAVs visits a set of points with a delivery truck acting as a docking station.…”

Section: Related Workmentioning

confidence: 99%

SwarmHive: Heterogeneous Swarm of Drones for Robust Autonomous Landing on Moving Robot

Gupta¹,

Baza²,

Dorzhieva³

et al. 2022

Preprint

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The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists.The key technology is that instead of facilitating each agent of the swarm of drones with computer vision that considerably increases the payload and shortens the flight time, we propose to install only one camera on the leader drone. The follower drones receive the commands from the leader UAV and maintain a collision-free trajectory with the artificial potential field.The experimental results revealed a high accuracy of the swarm landing on a static mobile platform (RMSE of 4.48 cm). RMSE of swarm landing on the mobile platform moving with the maximum velocities of 1.0 m/s and 1.5 m/s equals 8.76 cm and 8.98 cm, respectively. The proposed SwarmHive technology will allow the time-saving landing of the swarm for further drone recharging. This will make it possible to achieve self-sustainable operation of a multi-agent robotic system for such scenarios as rescue operations, inspection and maintenance, autonomous warehouse inventory, cargo delivery, and etc.

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“…While the prior developed systems investigated the landing of a single drone, a swarm landing presents an additional challenge for the real-time system. The concept of a UAV swarm docking was suggested by Tahir et al [29].…”

Section: Related Workmentioning

confidence: 99%

SwarmHawk: Self-Sustaining Multi-Agent System for Landing on a Moving Platform through an Agent Supervision

Gupta

Dorzhieva

Baza

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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Heterogeneous teams of mobile robots and UAVs are offering a substantial benefit in an autonomous exploration of the environment. Nevertheless, although joint exploration scenarios for such systems are widely discussed, they are still suffering from low adaptability to changes in external conditions and faults of swarm agents during the UAV docking. We propose a novel vision-based drone swarm docking system for robust landing on a moving platform when one of the agents lost its position signal.The proposed SwarmHawk system relies on vision-based detection for the mobile platform tracking and navigation of its agents. Each drone of the swarm carries an RGB camera and AprilTag3 QR-code marker on board. SwarmHawk can switch between two modes of operation, acting as a homogeneous swarm in case of global UAV localization or assigning leader drones to navigate its neighbors in case of a camera fault in one of the drones or global localization failure.Two experiments were performed to evaluate SwarmHawk's performance under the global and local localization with static and moving platforms. The experimental results revealed a sufficient accuracy in the swarm landing task on a static mobile platform (error of 4.2 cm in homogeneous formation and 1.9 cm in leader-follower formation) and on moving platform (error of 6.9 cm in homogeneous formation and 4.7 cm in leader-follower formation). Moreover, the drones showed a good landing on a platform moving along a complex trajectory (average error of 19.4 cm) in leader-follower formation.The proposed SwarmHawk technology can be potentially applied in various swarm scenarios, including complex environment exploration, inspection, and drone delivery.

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Navigation System For Landing A Swarm Of Autonomous Drones On A Movable Surface

Cited by 11 publications

References 19 publications

Energy-Efficient Post-Failure Reconfiguration of Swarms of Unmanned Aerial Vehicles

Energy-Efficient Post-Failure Reconfiguration of Swarms of Unmanned Aerial Vehicles

SwarmHive: Heterogeneous Swarm of Drones for Robust Autonomous Landing on Moving Robot

SwarmHawk: Self-Sustaining Multi-Agent System for Landing on a Moving Platform through an Agent Supervision

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