Decentralized Coordination of a Multi-UAV System for Spatial Planar Shape Formations.

ABSTRACT: Motivated by feedback from firefighters in Normandy, this work aims to provide a simple technique for a set of identical drones to collectively describe an arbitrary planar virtual shape in a 3D space in a decentralized manner. The original problem involved surrounding a toxic cloud to monitor its composition and short-term evolution. In the present work, the pattern is described using Fourier descriptors, a convenient mathematical formulation for that purpose. Starting from a reference point, which can be the center of a fire, Fourier descriptors allow for more precise description of a shape as the number of harmonics increases. This pattern needs to be evenly occupied by the fleet of drones under consideration. To optimize the overall view, the drones must be evenly distributed angularly

SUBMITTER: Petitprez E 

PROVIDER: S-EPMC10708656 | biostudies-literature | 2023 Dec

REPOSITORIES: biostudies-literature