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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2504.18840 |
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| _version_ | 1866908855641833472 |
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| author | Boldrer, Manuel Kratky, Vit Walter, Viktor Saska, Martin |
| author_facet | Boldrer, Manuel Kratky, Vit Walter, Viktor Saska, Martin |
| contents | In this letter, we present a distributed algorithm for flocking in complex
environments that operates at constant altitude, without explicit
communication, no a priori information about the environment, and by using
only on-board sensing and computation capabilities. We provide sufficient
conditions to guarantee collision avoidance with obstacles and other robots
without exceeding a desired maximum distance from a predefined set of
neighbors (flocking or proximity maintenance constraint) during the mission.
The proposed approach allows to operate in crowded scenarios and to explicitly
deal with tracking errors and on-board sensing errors. The algorithm was
verified through simulations with varying number of UAVs and also through
numerous real-world experiments in a dense forest involving up to four UAVs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_18840 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking Boldrer, Manuel Kratky, Vit Walter, Viktor Saska, Martin Robotics In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing and computation capabilities. We provide sufficient conditions to guarantee collision avoidance with obstacles and other robots without exceeding a desired maximum distance from a predefined set of neighbors (flocking or proximity maintenance constraint) during the mission. The proposed approach allows to operate in crowded scenarios and to explicitly deal with tracking errors and on-board sensing errors. The algorithm was verified through simulations with varying number of UAVs and also through numerous real-world experiments in a dense forest involving up to four UAVs. |
| title | Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.18840 |