Joint Flocking and Deconfliction in Unmanned Aerial Vehicle Swarms
Srijita Mukherjee, Kamesh R. Namuduri · 2019
Flocking and deconfliction are two important functional aspects of swarms. Flocking in Unmanned Aerial Vehicle (UAV) swarms refers to UAVs flying in a pattern whereas deconfliction refers to collision avoidance. Flocking enables communications and information sharing among neighbors. This paper presents a distributed model and establishes the necessary control laws for joint flocking and deconfliction. The proposed model and control laws are developed based on the principles of consensus-building and social potential functions. Experiments with promising results are presented to support the derived model.