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JACIII Vol.21 No.2 pp. 197-204
doi: 10.20965/jaciii.2017.p0197
(2017)

Paper:

Implementation of Swarm Social Foraging Behavior in Unmanned Aerial Vehicle (UAV) Quadrotor Swarm

Gerard Ely U. Faelden*, Ryan Rhay P. Vicerra**, Laurence A. Gan Lim*, Edwin Sybingco*, Elmer P. Dadios*, and Argel A. Bandala*

*De La Salle University
2401 Taft Avenue, 1004 Manila, Philippines

**Electronics Engineering Department, University of Santo Tomas
Roque Ruaño Building, Ruaño Drive, UST, Sampaloc, Manila, Philippines

Received:
June 23, 2016
Accepted:
October 14, 2016
Online released:
March 15, 2017
Published:
March 20, 2017
Keywords:
swarm intelligence, swarm behaviors, social foraging, unmanned aerial vehicles, quadrotors
Abstract

One of the novel approaches in multiple quadrotor control is swarm robotics. It aims to mimic social behaviors of animals and insects. This paper presents the physical implementation of the swarm social foraging behavior in unmanned aerial vehicle quadrotors. To achieve this, it first explores the basic behavior of aggregation. It is implemented over a quadrotor swarm test-bed that makes use of external motion capture cameras. The completed algorithm makes use of the artificial potential function model combined with the environment resource profile model. Results show successful demonstration of the social foraging algorithm with minimal error in position. Also, the proposed algorithm’s performance presents an increase in aggregation speed and time as the number of swarm member increases.

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Last updated on Aug. 18, 2017