Formation Control and UAV Path Finding Under Uncertainty : A contingent and cooperative swarm intelligence approach

Abstract: Several of our technological breakthroughs are influenced by types of behavior and structures developed in the natural world, including the emulation of swarm in- telligence and the engineering of artificial synapses that function like the human mind. Much like these breakthroughs, this report examines emerging behaviors across swarms of non-communicating, adaptive units that evade obstacles while find- ing a path, to present a swarming algorithm premised on a class of local rule sets re- sulting in a Unmanned Aerial Vehicle (UAV) group navigating together as a unified swarm. Primarily, this method’s important quality is that its rules are local in nature. Thus, the exponential calculations which can be supposed with growing number of drones, their states, and potential tasks are remedied. To this extent, the study tests the algorithmic rules in experiments to replicate the desired behavior in a bounded virtual space filled with simulated units. Simultaneously, in the adaptation of natural flocking rules the study also introduces the rule sets for goal seeking and uncertainty evasion. In effect, the study succeeds in reaching and displaying the desired goals even as the units avoid unknown before flight obstacles and inter-unit collisions with- out the need for a global centralized command nor a leader based hierarchical system.