Implementable self-organized flocking algorithm for UAVs based on the emergence of virtual roads.
- Plenty of research has been published on algorithms for the coordinated operation of UAVs. However, little is known about these algorithms that go beyond the simulation domain. In the paper, we present a self-organized UAV flocking algorithm together with its practical validation with three real UAVs. We show how non-ideal aspects of real UAVs, as inaccurate sensor data, clocked sensor output instead of continuous data, as well as imperfect and delayed communication, can be handled. We provide a framework that allows us to develop these systems based on validated simulation models and show how the same framework can be directly implemented on real UAVs, closing the gap between abstract modeling and physical implementation on UAVs.
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