Drone Swarm
In cooperative missions, if an individual UAV does not have sufficient resources to neutralize a target then a coalition of UAVs may needs to be formed that fulfills the target resource requirement. Consider a team of n UAVs performing search and attack task in an unknown region. The UAV
2025-06-28 16:32:13 - Adil Khan
Drone Swarm
Project Area of Specialization Internet of ThingsProject SummaryIn cooperative missions, if an individual UAV does not have sufficient resources to neutralize a
target then a coalition of UAVs may needs to be formed that fulfills the target resource
requirement. Consider a team of n UAVs performing search and attack task in an unknown region.
The UAVs are heterogeneous and can carry different types of resources in limited numbers. Some
of these resources are consumable, that is, the resources deplete with use, while others like
sensors do not deplete. So, if a UAV cannot neutralize a target by itself, then the potential mission
of UAV cannot be accomplished. So there is a need of communication between UAVs so they can
call upon each other when needed, which will be accomplished.In recent times the unmanned armed vehicles (UAVs) are very useful in defense projects and
where there is dire need of security and surveillance. Flexibility in the operational use of UAVs
in such operations has raised the demands for the use and acquires of UAVs by the top air and
military forces of the world to carry out various military operations including border patrol,
surveillance and reconnaissance, target search and attack, battle damage assessment etc. One
of the key military operations using multiple UAVs is the target search and destroy mission in
which a team of UAVs cooperatively search and attack the targets in a highly uncertain region.
The UAVs in these missions are heterogeneous in nature and carries different types and
amounts of limited resources out of which some may deplete by the use and passage of time.
The number of UAVs used for any task may vary in number due to the unpredictable nature of
the environment.
Since this is a contemporary problem where the communication between UAVs is as necessary
as it gets so that a target that needs multiple resources to be neutralized can be destroyed by a
group of UAVs that are communicating. We will accomplish this task by establishing a robust
communication and network between UAVs so they can communicate with each other. In this
way, a coalition of UAVs can be formed so that the problem of one UAV unable of neutralizing
the target can be solved
In cooperative missions, if an individual UA V does
not have sufficient resources to neutralize a target then a
coalition of UA Vs may needs to be formed that fulfills the target
resource requirement. This paper proposes an algorithm for the
decentralized coalition formation of multiple heterogeneous
UA Vs that cooperatively perform a search and attack task to
neutralize the static ground targets. The main objective of the
proposed algorithm is to determine the smallest coalition that
would successfully destroy the target in minimum time. First, the
responding UA Vs are sorted in the ascending order of their
resource difference based cost, and then the eligible sets of UAVs
with required total resources that can fulfill the target resource
criteria are determined. Second, from the eligible sets of UAVs,
the algorithm determines the set with minimum time to
neutralize the target based on the time of arrival of UAVs on
target. Simulation tests to study the performance of proposed
approach are carried out and the results are compared with one
of the reference sub optimal decentralized coalition formation
approach
| We want to establish a communication between three UAV’s. One UAV will be squadron leader and other two UAV’s will wait for its signal. When the signal is received one of them with better battery backup will join the leader or in another case both will join and form a specific formation over the target. Raspberry Pi will be used to send signals and commands to Pixhawk flight controller using MAVLink control using serial communication. Battery will be connected to Pixhawk Controller and Raspberry Pi will get power from Pixhawk Controller. GSM Module will be interfaced with Raspberry Pi using UART. PWM signal will be sent from Pixhawk Controller to Electronic Speed Controller and from that power will be given to motors to rotate at specific RPM. |
| his kit will contain un assembled UAV, the package will contain the following: center plates, APM2.8 flight controller with case, four arms, battery charger, hardware for assembly, 11.1V 2200MAH 30C Li-Po battery, Velcro and strap for battery, 3 bags of screws, and wires for the power distribution board. The package does not include any tools. |
| Connecting the Pixhawk’s TELEM2 port to the Raspberry Pi Ground, TX and RX pins to establish a connection. MAV link protocol is used to establish a communication between Raspberry Pi and Pixhawk flight controller. Pixhawk 2.4.8 works using PX4 firmware which is an open source flight control stack. PX4 uses sensors to determine vehicle state (needed for stabilization and to enable autonomous control). The system minimally requires a gyroscope, accelerometer, magnetometer (compass) and barometer. A GPS or other positioning system is needed to enable all automatic modes, and some assisted modes. It takes signals from Raspberry Pi which is already programmed using Python and it helps fly the UAV. |
| Companion Computer will be needed mainly for sending commands and signals to Pixhawk controller. Since we cannot directly manipulate Pixhawk controller we will have to use MAV link protocol to send signals to Flight controller (Pixhawk 2.4.8) using Raspberry Pi. It’s a Linux based single board computer having all the features of computer but on a smaller scale. The version of Linux used to operate Raspberry Pi is Raspbian Linux. We will use Python to program Raspberry Pi. |
and other two UAV’s will wait for its signal. When the signal is received one of them with better
battery backup will join the leader or in another case both will join and form a specific formation over
the target. Raspberry Pi will be used to send signals and commands to Pixhawk flight controller using
MAVLink control using serial communication. Battery will be connected to Pixhawk Controller and
Raspberry Pi will get power from Pixhawk Controller. GSM Module will be interfaced with Raspberry
Pi using UART. PWM signal will be sent from Pixhawk Controller to Electronic Speed Controller and
from that power will be given to motors to rotate at specific RPM.his kit will contain un assembled UAV, the package will contain the following: center
plates, APM2.8 flight controller with case, four arms, battery charger, hardware for
assembly, 11.1V 2200MAH 30C Li-Po battery, Velcro and strap for battery, 3 bags of
screws, and wires for the power distribution board. The package does not include any
tools.Connecting the Pixhawk’s TELEM2 port to the Raspberry Pi Ground, TX and RX
pins to establish a connection. MAV link protocol is used to establish a
communication between Raspberry Pi and Pixhawk flight controller. Pixhawk
2.4.8 works using PX4 firmware which is an open source flight control stack. PX4
uses sensors to determine vehicle state (needed for stabilization and to enable
autonomous control). The system minimally requires a gyroscope,
accelerometer, magnetometer (compass) and barometer. A GPS or other
positioning system is needed to enable all automatic modes, and some assisted
modes. It takes signals from Raspberry Pi which is already programmed using
Python and it helps fly the UAV.Companion Computer will be needed mainly for sending commands and signals to
Pixhawk controller. Since we cannot directly manipulate Pixhawk controller we will have
to use MAV link protocol to send signals to Flight controller (Pixhawk 2.4.8) using
Raspberry Pi. It’s a Linux based single board computer having all the features of computer
but on a smaller scale. The version of Linux used to operate Raspberry Pi is Raspbian
Linux. We will use Python to program Raspberry Pi.Benefits of the Project
| An electronic speed control will follow a speed reference signal and varies the switching rate of a network of field effect transistors (FETs). By adjusting the duty cycle or switching frequency of the transistors, the speed of the motor is changed. The rapid switching of the transistors is what causes the motor itself to emit its characteristic high pitched whine, especially noticeable at lower speeds. We will use Raspberry Pi to control Electronic speed controller using Pulse Width Modulation. The model of ESC we are using is 30A BLDC ESC |
switching rate of a network of field effect transistors (FETs). By adjusting the duty cycle or
switching frequency of the transistors, the speed of the motor is changed. The rapid
switching of the transistors is what causes the motor itself to emit its characteristic high
pitched whine, especially noticeable at lower speeds. We will use Raspberry Pi to control
Electronic speed controller using Pulse Width Modulation.
The model of ESC we are using is 30A BLDC ESCTechnical Details of Final Deliverable
To simulate the drone according to coordinates on MATLAB so that it follows
a specified path to the designated target.
• Establishing a communication between Raspberry pi and Pixhawk controller
for autonomous flight control.
• To send commands written in Python, through Wi-Fi to Raspberry pi and
from Raspberry pi to Pixhawk (Flight Controller).
• To interface a companion computer with the drone for Coalition Formation
this will also enable them to coordinate with each other to check if they have
necessary resources to accomplish the task.
• All three drones will be able to communicate with each other and send
message to each other via Wi-Fi.
• Each drone will be able to keep track of the resources present and on the
basis of resources required, it'll be able to call other drone to its coordinates
| his kit will contain un assembled UAV, the package will contain the following: center plates, APM2.8 flight controller with case, four arms, battery charger, hardware for assembly, 11.1V 2200MAH 30C Li-Po battery, Velcro and strap for battery, 3 bags of screws, and wires for the power distribution board. The package does not include any tools. |