Decentralised, Self-Organising Drone Swarms using Coupled Oscillators
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912829622190080 |
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| author | Quinn, Kevin Molloy, Cormac Šiljak, Harun |
| author_facet | Quinn, Kevin Molloy, Cormac Šiljak, Harun |
| contents | The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and damage. This paper proposes using coupled oscillators to create a drone swarm that is decentralised and self organising. This allows for greater flexibility and adaptiveness than a hard-coded swarm, with more resilience and scalability than a centralised system. Our method allows for a variable number of drones to spontaneously form a swarm and react to changing swarm conditions. Additionally, this method includes provisions to prevent communication interference between drones, and signal processing techniques to ensure a smooth and cohesive swarm. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2505_00442 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Decentralised, Self-Organising Drone Swarms using Coupled Oscillators Quinn, Kevin Molloy, Cormac Šiljak, Harun Robotics Systems and Control Adaptation and Self-Organizing Systems The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and damage. This paper proposes using coupled oscillators to create a drone swarm that is decentralised and self organising. This allows for greater flexibility and adaptiveness than a hard-coded swarm, with more resilience and scalability than a centralised system. Our method allows for a variable number of drones to spontaneously form a swarm and react to changing swarm conditions. Additionally, this method includes provisions to prevent communication interference between drones, and signal processing techniques to ensure a smooth and cohesive swarm. |
| title | Decentralised, Self-Organising Drone Swarms using Coupled Oscillators |
| topic | Robotics Systems and Control Adaptation and Self-Organizing Systems |
| url | https://arxiv.org/abs/2505.00442 |