Swarm Choreography Made Simple: Superposed Guiding Vector Fields for Rigid Formation Path Following
Overview
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.
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- arXiv Robotics — research abstractsSignalSwarm 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.
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