research-article

Formation Maintenance and Collision Avoidance in a Swarm of Drones

Authors:

Jawad Naveed Yasin,

Mohammad-Hashem Haghbayan,

Jukka Heikkonen,

Hannu Tenhunen,

Juha PlosilaAuthors Info & Claims

ISCSIC 2019: Proceedings of the 2019 3rd International Symposium on Computer Science and Intelligent Control

Article No.: 1, Pages 1 - 6

https://doi.org/10.1145/3386164.3386176

Published: 06 June 2020 Publication History

Abstract

Distributed formation control and obstacle avoidance are two important challenges in autonomous navigation of a swarm of drones and can negatively affect each other due to possible competition that arises between them. In such a platform, a multi-priority control strategy is required to be implemented in every node in order to dynamically optimise the tradeoffs between collision avoidance and formation control w.r.t. given system constraints, e.g. on energy and response time, by reordering priorities in run-time and selecting the suitable formation and collision avoidance approach based on the state of the swarm, i.e., the kinematic parameters and geographical distribution of the nodes as well as the location of the observed obstacles. In this paper, we propose a method for formation/collision co-awareness with the goal of energy consumption and response time minimisation. The algorithm consists of two partial nested feedback-based control loops and based on three observations: 1) for formation maintenance the relative location of the neighbour nodes; 2) observation of an obstacle by a local sensor, represented by a boolean value, used for both formation control and collision avoidance; and 3) in critical situations for avoiding collisions, the distance of an obstacle to the node. The obtained comprehensive experimental results show that the proposed approach appropriately keeps the formation during the swarm's travel in the presence of different obstacles.

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Cited By

Altinses DSalazar Torres DSchwung MLier SSchwung A(2024)Optimizing Drone Logistics: A Scoring Algorithm for Enhanced Decision Making across Diverse Domains in Drone AirlinesDrones10.3390/drones80703078:7(307)Online publication date: 9-Jul-2024
https://doi.org/10.3390/drones8070307
Subaranjani TJaideep RManjula CSeema V(2024)Integrating Photonics and Fiber Bragg Grating Sensors with Deep Reinforcement Learning for Advanced Robotic Systems2024 11th International Conference on Computing for Sustainable Global Development (INDIACom)10.23919/INDIACom61295.2024.10498916(283-289)Online publication date: 28-Feb-2024
https://doi.org/10.23919/INDIACom61295.2024.10498916
Rezaee MHamid NHussin MZukarnain Z(2024)Comprehensive Review of Drones Collision Avoidance Schemes: Challenges and Open IssuesIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.337589325:7(6397-6426)Online publication date: Jul-2024
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Index Terms

Formation Maintenance and Collision Avoidance in a Swarm of Drones
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics

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cover image ACM Other conferences

ISCSIC 2019: Proceedings of the 2019 3rd International Symposium on Computer Science and Intelligent Control

September 2019

397 pages

ISBN:9781450376617

DOI:10.1145/3386164

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 06 June 2020

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ISCSIC 2019

ISCSIC 2019: 2019 3rd International Symposium on Computer Science and Intelligent Control

September 25 - 27, 2019

Amsterdam, Netherlands

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ISCSIC 2019 Paper Acceptance Rate 77 of 152 submissions, 51%;

Overall Acceptance Rate 192 of 401 submissions, 48%

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Cited By

Altinses DSalazar Torres DSchwung MLier SSchwung A(2024)Optimizing Drone Logistics: A Scoring Algorithm for Enhanced Decision Making across Diverse Domains in Drone AirlinesDrones10.3390/drones80703078:7(307)Online publication date: 9-Jul-2024
https://doi.org/10.3390/drones8070307
Subaranjani TJaideep RManjula CSeema V(2024)Integrating Photonics and Fiber Bragg Grating Sensors with Deep Reinforcement Learning for Advanced Robotic Systems2024 11th International Conference on Computing for Sustainable Global Development (INDIACom)10.23919/INDIACom61295.2024.10498916(283-289)Online publication date: 28-Feb-2024
https://doi.org/10.23919/INDIACom61295.2024.10498916
Rezaee MHamid NHussin MZukarnain Z(2024)Comprehensive Review of Drones Collision Avoidance Schemes: Challenges and Open IssuesIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.337589325:7(6397-6426)Online publication date: Jul-2024
https://doi.org/10.1109/TITS.2024.3375893
T P PS SR S(2024)3D Simulation and Testing of Formation Flying Using ESPcopter2024 5th International Conference on Intelligent Communication Technologies and Virtual Mobile Networks (ICICV)10.1109/ICICV62344.2024.00082(485-491)Online publication date: 11-Mar-2024
https://doi.org/10.1109/ICICV62344.2024.00082
Wubben JCalafate CCano JManzoni P(2023)FFPAd Hoc Networks10.1016/j.adhoc.2022.103078140:COnline publication date: 1-Mar-2023
https://dl.acm.org/doi/10.1016/j.adhoc.2022.103078
Omolara AAlawida MAbiodun O(2023)Drone cybersecurity issues, solutions, trend insights and future perspectives: a surveyNeural Computing and Applications10.1007/s00521-023-08857-735:31(23063-23101)Online publication date: 31-Aug-2023
https://doi.org/10.1007/s00521-023-08857-7
Sastre CWubben JCalafate CCano JManzoni P(2022)Collision-free swarm take-off based on trajectory analysis and UAV grouping2022 IEEE 23rd International Symposium on a World of Wireless, Mobile and Multimedia Networks (WoWMoM)10.1109/WoWMoM54355.2022.00074(477-482)Online publication date: Jun-2022
https://doi.org/10.1109/WoWMoM54355.2022.00074
Chen KXie MChen YChu TLin Y(2022)DroneTalk: An Internet-of-Things-Based Drone System for Last-Mile Drone DeliveryIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2021.313843223:9(15204-15217)Online publication date: 1-Sep-2022
https://dl.acm.org/doi/10.1109/TITS.2021.3138432
Shen NCao JZipp MStork W(2022)Autonomous Obstacle Avoidance for UAV based on Point Cloud2022 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS54217.2022.9836089(1580-1585)Online publication date: 21-Jun-2022
https://doi.org/10.1109/ICUAS54217.2022.9836089
Yasin JMahboob HHaghbayan MYasin MPlosila J(2021)Energy-Efficient Navigation of an Autonomous Swarm with Adaptive ConsciousnessRemote Sensing10.3390/rs1306105913:6(1059)Online publication date: 11-Mar-2021
https://doi.org/10.3390/rs13061059
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