Swarm Choreography Made Simple: Superposed Guiding Vector Fields for Rigid Formation Path Following
Swarm Choreography Made Simple: Superposed Guiding Vector Fields for Rigid Formation Path Following
This research paper introduces a decentralized guiding vector field framework for rigid formation path following in multi-UAV systems. By superposing simple rule-driven vector fields, the method encodes control objectives such as path progression, formation convergence, shape preservation, and collision avoidance. Theoretical analysis confirms convergence without the separation term and guarantees collision avoidance. Experimental validation was conducted using a swarm of five quadrotors performing two 3D choreographies: tracking a helical path in a V-shaped formation and executing spiral-like motion with a rotating circular formation.
The paper proposes a decentralized control framework for multi-UAV swarms using superposed vector fields to achieve rigid formation path following with low communication overhead, validated experimentally on five quadrotors executing 3D choreographies.
Source: arXiv Robotics — research abstracts · Read original article ↗
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ed path and formation in the absence of the sepa- ration term, while collision avoidance is formally guaranteed. The approach is experimentally validated using a swarm of five quadrotors executing two 3D choreographies. The first experiment involves tracking a helical path while maintaining a rigid V-shaped formation. The second demonstrates a spiral- like motion obtained by a rotating circular formation tracking a v
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Source：arXiv Robotics — research abstracts · arxiv.org