4.6 Article

Energy-Efficient Swarming Flight Formation Transitions Using the Improved Fair Hungarian Algorithm

期刊

SENSORS
卷 21, 期 4, 页码 -

出版社

MDPI
DOI: 10.3390/s21041260

关键词

swarming flight system; Hungarian algorithm; RTK-GPS

资金

  1. Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF)
  2. Unmanned Vehicle Advanced Research Center (UVARC) - Ministry of Science and ICT, the Republic of Korea [2020M3C1C1A01083]

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This paper proposes a fast and energy-efficient scene transition algorithm to minimize collision between drones and increase operating time. The algorithm reduces drone movement distance and uses a multilayer approach to avoid collisions. The experimental system includes robust communication and position estimation.
Recently, drone shows have impressed many people through a convergence of technology and art. However, these demonstrations have limited operating hours based on the battery life. Thus, it is important to minimize the unnecessary transition time between scenes without collision to increase operating time. This paper proposes a fast and energy-efficient scene transition algorithm that minimizes the transition times between scenes. This algorithm reduces the maximum drone movement distance to increase the operating time and exploits a multilayer method to avoid collisions between drones. In addition, a swarming flight system including robust communication and position estimation is presented as a concrete experimental system. The proposed algorithm was verified using the swarming flight system at a drone show performed with 100 drones.

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