Decentralized Swarming for Cooperative Search
We will design a decentralized Swarm of multi-rotor UAVs. The project?s main focus is the development of high-level behavior-based control algorithms for the coordination of multiple quadrotors. The drones will be capable of autonomous flight and obstacle avoidance. Each member of the swarm shall be
2025-06-28 16:26:04 - Adil Khan
Decentralized Swarming for Cooperative Search
Project Area of Specialization RoboticsProject SummaryWe will design a decentralized Swarm of multi-rotor UAVs. The project’s main focus is the development of high-level behavior-based control algorithms for the coordination of multiple quadrotors. The drones will be capable of autonomous flight and obstacle avoidance. Each member of the swarm shall be connected with the other members through a decentralized communication network, providing robustness against individual member failure. Each quadrotor will have control over its own flight only, however, the interaction between the quadcopters through the developed control architecture will lead to emergence of swarm-like behavior.
Project Objectives- Obtain autonomous behavior of individual drones
- Develop a decentralized communication network between drones
- Develop control architecture to achieve coherent multi-robot coordination
- Quadcopter selection and flight controller integration
- Collision avoidance algorithm
- Develop decentralized communication architecture and routing protocols
- Algorithms for individual behavior of swarm members.
- Swarm path planning and coordination algorithm
- Complete integration of software with hardware
Direct Benefits
- Useful for Search and Rescue Missions
Indirect Benefits
- Helps understand discrete optimization principles
The final product will be a hardware/software integrated system capable of flying autonomously and able to discretize and search a large area for a dynamic target in an uncertain environment.
Final Deliverable of the Project HW/SW integrated systemCore Industry OthersOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and Infrastructure, Sustainable Cities and Communities, Climate Action, Life on Land, Partnerships to achieve the GoalRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 80000 | |||
| Flycat 360 KV | Equipment | 4 | 3400 | 13600 |
| Propeller 13 x 5.5 | Equipment | 2 | 2450 | 4900 |
| ESC 40A | Equipment | 5 | 2550 | 12750 |
| Pixhawk cube | Equipment | 1 | 30000 | 30000 |
| Lipo 4S | Equipment | 1 | 8750 | 8750 |
| Other | Miscellaneous | 10000 | 1 | 10000 |