The agility of quadrotors enables this machine to perform single-agent autonomous navigation in unknown environments and multi-agent precise formation control in open or known fields. However, few works combine both of them to present any real-world system which is capable of navigating quadrotor swarms sharing the same unknown space, especially with only onboard processing.
This project is a systematic solution that enables high-performance traveling in cluttered environments for quadrotor swarms in filed environments. In addition, it requires no external localization and computation or a pre-built map.
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments, Xin Zhou, Jiangchao Zhu, Hongyu Zhou, Chao Xu, Fei Gao, submitted to the International Conference on Robotics and Automation (ICRA 2021). [preprint] [code]