@inproceedings{7b16c3078eaa4f8c92b6166ae63804fc,
title = "Towards Drone Flocking Using Relative Distance Measurements",
abstract = "We introduce a method to form and maintain a flock of drones only based on relative distance measurements. This means our approach is able to work in GPS-denied environments. It is fully distributed and therefore does not need any information exchange between the individual drones. Relative distance measurements to other drones and information about its own relative movement are used to estimate the current state of the environment. This makes it possible to perform lookahead and estimate the next state for any potential next movement. A distributed cost function is then used to determine the best next action in every time step. Using a high-fidelity simulation environment, we show that our approach is able to form and maintain a flock for a set of drones.",
keywords = "Distributed controller, Drones, Flock, Quadcopters, Swarm",
author = "Andreas Brandst{\"a}tter and Smolka, \{Scott A.\} and Stoller, \{Scott D.\} and Ashish Tiwari and Radu Grosu",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 11th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation, ISoLA 2022 ; Conference date: 22-10-2022 Through 30-10-2022",
year = "2022",
doi = "10.1007/978-3-031-19759-8\_7",
language = "English",
isbn = "9783031197581",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "97--109",
editor = "Tiziana Margaria and Bernhard Steffen",
booktitle = "Leveraging Applications of Formal Methods, Verification and Validation. Adaptation and Learning - 11th International Symposium, ISoLA 2022, Proceedings",
}