Advertisement

Beat-Based Synchronization and Steering for Groups of Fixed-Wing Flying Robots

  • Sabine Hauert
  • Severin Leven
  • Jean-Christophe Zufferey
  • Dario Floreano
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)

Abstract

Groups of fixed-wing robots can benefit from moving in synchrony to share sensing and communication capabilities, avoid collisions or produce visually pleasing choreographies. Synchronous motion is especially challenging when using fixed-wing robots that require continuous forward motion to fly. For such platforms, performing trajectories with forward speed lower than the minimum speed of the robot can only be achieved by acting on its heading turn rate. Synchronizing such highly dynamical systems would typically require position information and entail frequent sensing and communication among robots within the group. Instead here we propose a simple controller that reacts to regular beats received through wireless transmissions. Thanks to these beats, robot headings synchronize over time. Furthermore, these controllers can easily be parameterized to steer and regulate the global progression speed of groups of robots. Experiments are performed both in simulation and using up to five fixed-wing flying robots.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    De Nardi, R., Holland, O., Woods, J., Clark, A.: SwarMAV: A swarm of miniature aerial vehicles. In: Proceedings of the 21st International UAV Systems Conference (2006)Google Scholar
  2. 2.
    Ghabcheloo, R., Pascoal, A., Silvestre, C., Kaminer, I.: Non-linear co-ordinated path following control of multiple wheeled robots with bidirectional communication constraints. International Journal of Adaptive Control and Signal Processing 21(2-3), 133–157 (2007)MathSciNetMATHCrossRefGoogle Scholar
  3. 3.
    Ghommam, J., Saad, M., Mnif, F.: Formation path following control of unicycle-type mobile robots. In: IEEE International Conference on Robotics and Automation, pp. 1966–1972. IEEE Press, Piscataway (2008)CrossRefGoogle Scholar
  4. 4.
    Hauert, S., Leven, S., Zufferey, J.C., Floreano, D.: Communication-based leashing of real flying robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 15–20 (2010)Google Scholar
  5. 5.
    Hauert, S., Winkler, L., Zufferey, J.-C., Floreano, D.: Ant-based swarming with positionless micro air vehicles for communication relay. Swarm Intelligence 2(2-4), 167–188 (2008)CrossRefGoogle Scholar
  6. 6.
    Hauert, S., Zufferey, J.C., Floreano, D.: Evolved swarming without positioning information: an application in aerial communication relay. Autonomous Robots 26(1), 21–32 (2009)CrossRefGoogle Scholar
  7. 7.
    Leven, S., Zufferey, J.C., Floreano, D.: A minimalist control strategy for small UAVs. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2873–2878. IEEE Press, Piscataway (2009)Google Scholar
  8. 8.
    Li, Q., Jiang, Z.P.: Formation tracking control of unicycle teams with collision avoidance. In: Conference on Decision and Control, pp. 496–501. IEEE Press, Piscataway (2008)Google Scholar
  9. 9.
    Mirollo, R.E., Strogatz, S.H.: Synchronization of pulse-coupled biological oscillators. SIAM Journal on Applied Mathematics 50, 1645–1662 (1990)MathSciNetMATHCrossRefGoogle Scholar
  10. 10.
    Moshtagh, N., Jadbabaie, A., Daniilidis, K.: Vision-based distributed coordination and flocking of multi-agent systems. In: Proceedings of Robotics: Science and Systems (2005)Google Scholar
  11. 11.
    Strogatz, S.H.: Sync: The Emerging Science of Spontaneous Order. Hyperion Press (2003)Google Scholar
  12. 12.
    Strogatz, S.H., Stewart, I.: Coupled oscillators and biological synchronization. Scientific American 269(6), 102–109 (1993)CrossRefGoogle Scholar
  13. 13.
    Zufferey, J.C., Beyeler, A., Floreano, D.: Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following. In: Proceedings of the IEEE International Conference on Robotics and Automation. IEEE Press, Piscataway (2010)Google Scholar
  14. 14.
    Zufferey, J.C., Hauert, S., Stirling, T., Leven, S., Roberts, J., Floreano, D.: Handbook of Collective Robotics, chap. Aerial collective systems. Pan Stanford Publishing (in press)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Sabine Hauert
    • 1
  • Severin Leven
    • 1
  • Jean-Christophe Zufferey
    • 1
  • Dario Floreano
    • 1
  1. 1.Laboratory of Intelligent SystemsEcole Polytechnique Fédérale de LausanneLausanneSwitzerland

Personalised recommendations