JACIII Vol.21 No.2 pp. 189-196
doi: 10.20965/jaciii.2017.p0189


Utilization of the Physicomimetics Framework for Achieving Local, Decentralized, and Emergent Behavior in a Swarm of Quadrotor Unmanned Aerial Vehicles (QUAV)

Reiichiro Christian S. Nakano*, 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

June 16, 2016
September 23, 2016
Online released:
March 15, 2017
March 20, 2017
swarm, physicomimetics, quadrotors, aggregation, swarming behavior

This paper presents the implementation of the physicomimetics framework in governing the behavior of a swarm of quadrotors. Each quadrotor uses only local information about itself and the neighboring quadrotors to determine its own movement by applying the principles of physicomimetics. Through these localized and relatively simple interactions, the swarm of quadrotors was able to organize itself into various structures and exhibit different swarm behaviors such as aggregation, obstacle avoidance, lattice formation, and dispersion.

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Last updated on Mar. 19, 2018