Adaptive arbitration of aerial swarm interactions through a Gaussian kernel for coherent group motion.

ABSTRACT: Swarm behaviors offer scalability and robustness to failure through a decentralized and distributed design. When designing coherent group motion as in swarm flocking, virtual potential functions are a widely used mechanism to ensure the aforementioned properties. However, arbitrating through different virtual potential sources in real-time has proven to be difficult. Such arbitration is often affected by fine tuning of the control parameters used to select among the different sources and by manually set cut-offs used to achieve a balance between stability and velocity. A reliance on parameter tuning makes these methods not ideal for field operations of aerial drones which are characterized by fast non-linear dynamics hindering the stability of potential functions designed for slower dynami

SUBMITTER: Manoni T 

PROVIDER: S-EPMC9751408 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature