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About this paper
Dimitria Silveria, Paulo Ricardo Marques de Araujo, Tiago Nascimento, Sidney Givigi
Researchers from Queen's University developed a decentralized UAV swarm system to autonomously protect ground vehicles and intercept hostile drones in environments where GPS and inter-UAV communication are unavailable. The pipeline uses only onboard relative sensor measurements to achieve effective target encirclement, tracking, and neutralization, validated through real-robot experiments.
Key insights
- Decentralized UAV swarm operation for ground target protection and hostile drone interception is feasible using only onboard relative sensor measurements, removing reliance on GPS and inter-UAV communication.
- Adaptive encirclement strategies, where swarm radius and angular velocity dynamically adjust to target motion, are essential for maintaining containment of dynamic targets despite inherent estimation delays.
- Specialized state estimation, including an IEKF with covariance relaxation for adapting to holonomic aerial targets and a discrete Kalman filter for inter-agent phase synchronization, enables effective swarm coordination and target tracking in challenging conditions.
Summary by alphaXiv.
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