Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions

Sensors

Pablo Garcia-Aunon¹  Jaime del Cerro¹  Antonio Barrientos¹ 

[1] Centre for Automation and Robotics (CAR), Technical University of Madrid (UPM), 28006 Madrid, Spain;

关键词: robotic swarm;    multi-uav;    surveillance;    behavior-based control;    experimental results;   

DOI  :  10.3390/s19204584

来源: DOAJ

【 摘 要 】

Aerial robotic swarms have shown benefits for performing search and surveillance missions in open spaces in the past. Among other properties, these systems are robust, scalable and adaptable to different scenarios. In this work, we propose a behavior-based algorithm to carry out a surveillance task in a rectangular area with a flexible number of quadcopters, flying at different speeds. Once the efficiency of the algorithm is quantitatively analyzed, the robustness of the system is demonstrated with 3 different tests: loss of broadcast messages, positioning errors, and failure of half of the agents during the mission. Experiments are carried out in an indoor arena with micro quadcopters to support simulation results. Finally, a case study is proposed to show a realistic implementation in the test bed.

【 授权许可】

Unknown