The Distributed Flight Array

Abstract

Abstract-This paper introduces the Distributed Flight Array which is being developed at ETH Zurich. This multipropeller platform consists of autonomous single-propeller modules that are able to drive, dock with their peers, and fly in a coordinated fashion. These modules are organized as distributed computational units with minimal sensory input. This is a complex system that is rich in dynamics with much room to explore various strategies of distributed estimation and control. Several demonstrations in docking, driving, and flight have proven its feasibility.

Underwater Robot Swarms: Challenges and Opportunities

“…Finally, examples of docking and flocking were shown in reality on-board the International Space Station with three micro-satellites in the scope of the SPHERES project (Nolet et al, 2006). The physical docking of flying robots has also been demonstrated in reality in the Distributed Flight Array project that aims at building aerial modular robots for the study of dynamical systems (Oung et al, 2010). Each module has wheels to drive on the ground and a single propeller.…”

“…Flying in formation provides an effective way of de-congesting the airspace. Aerial swarms also have an enormous artistic potential because they allow creating physical 3D structures that can dynamically change their shape over time (Nembrini et al, 2005;Oung et al, 2010).…”

Design of a Control System for an Organic Flight Array Based on a Neural Network Controller

“…The DFA can generate the thrust but cannot fly with a single module because it cannot remove the antitorque. Hence, the single-rotor modules must be combined to fly with other modules [8,9]. The International Islamic University of Malaysia also conducted a study on autonomous flight vehicles with distributed flight array concepts.…”

Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

“…Further, functionality of the configured robot has also not been discussed much in the literature except for improved motion capabilities such as in Modred [4]. Also, most of the modular robots have been restricted to ground robots except for distributed flight proposed by [5]. However, the individual modules in [5] combine together only to fly together, rather than configure into a meaningful individual such as an UAV, though the modules have this capability.…”

“…Also, most of the modular robots have been restricted to ground robots except for distributed flight proposed by [5]. However, the individual modules in [5] combine together only to fly together, rather than configure into a meaningful individual such as an UAV, though the modules have this capability. While in a modular robot the individual modules physically attach (or dock) to each other to form a functional modular robot, in swarm robotics or multi-robotic (agent) systems (MRS/MAS), individual robots cooperate to achieve a complex task.…”