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 field 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, the International Conference on Robotics and Automation (ICRA 2021). [paper] [code]