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JACIII Vol.21 No.2 pp. 181-188
doi: 10.20965/jaciii.2017.p0181
(2017)

Paper:

Smoothed Particle Hydrodynamics Approach to Aggregation of Quadrotor Unmanned Aerial Vehicle Swarm

Jose Martin Z. Maningo*, Ryan Rhay P. Vicerra**, Laurence A. Gan Lim*, Edwin Sybingco*, Elmer P. Dadios*, and Argel A. Bandala*

*De La Salle University
2401 Taft Avenue, Manila 1004, Philippines
**Electronics Engineering Department, University of Santo Tomas
Roque Ruaño Building, Ruaño Drive, UST, Sampaloc, Manila, Philippines

Received:
June 16, 2016
Accepted:
September 14, 2016
Online released:
March 15, 2017
Published:
March 20, 2017
Keywords:
swarm robotics, aggregation behavior, smoothed particle hydrodynamics, unmanned aerial vehicle
Abstract

This paper uses a fluid mechanics approach to perform swarming aggregation on a quadrotor unmanned aerial vehicle (QUAV) swarm platform. This is done by adapting the Smoothed Particle Hydrodynamics (SPH) technique. An algorithm benchmarking is conducted to see how well SPH performs. Simulations of varying set-ups are experimented to compare different algorithms with SPH. The position error of SPH is 30% less than the benchmark algorithm when a target enclosure is introduce. SPH is implemented using Crazyflie quadrotor swarm. The aggregation behavior exhibited successfully in the said platform.

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Last updated on May. 26, 2017