Decentralized Coordination of a Multi-UAV System for Spatial Planar Shape Formations

Author:

Petitprez Etienne123ORCID,Guérin François14ORCID,Guinand Frédéric135ORCID,Germain Florian1,Kerthe Nicolas1

Affiliation:

1. Le Havre Normandy University, 76600 Le Havre, France

2. Squadrone System, 38000 Grenoble, France

3. LITIS Laboratory, 76600 Le Havre, France

4. GREAH Laboratory, 76600 Le Havre, France

5. Faculty of Mathematics and Natural Sciences, Cardinal Stefan Wyszynski University, 01-815 Warsaw, Poland

Abstract

Motivated by feedback from firefighters in Normandy, this work aims to provide a simple technique for a set of identical drones to collectively describe an arbitrary planar virtual shape in a 3D space in a decentralized manner. The original problem involved surrounding a toxic cloud to monitor its composition and short-term evolution. In the present work, the pattern is described using Fourier descriptors, a convenient mathematical formulation for that purpose. Starting from a reference point, which can be the center of a fire, Fourier descriptors allow for more precise description of a shape as the number of harmonics increases. This pattern needs to be evenly occupied by the fleet of drones under consideration. To optimize the overall view, the drones must be evenly distributed angularly along the shape. The proposed method enables virtual planar shape description, decentralized bearing angle assignment, drone movement from takeoff positions to locations along the shape, and collision avoidance. Furthermore, the method allows for the number of drones to change during the mission. The method has been tested both in simulation, through emulation, and in outdoor experiments with real drones. The obtained results demonstrate that the method is applicable in real-world contexts.

Funder

Association National Recherche Technologie of France

Agence Nationale de la Recherche (ANR) France

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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