Flocking behavior for dynamic and complex swarm structures

Carmen DR.Pita-Romero · Pedro Arias-Perez · Rafael Perez-Segui Miguel Fernandez Cortizas . Rafael Perez-Segui · Pascual Campoy ·

In Progress Paper | Video

TABLE OF CONTENTS

• Summited Paper
• Getting started
• Launch simulation mission
• Launch aunch real mission
• Maintainers

Summited Paper for ICUAS25

Getting started

This project has been developed in Ubuntu 22.04, ROS 2 Humble and Aerostack2.

1. Clone this branch of the Aerostack2 repository and build it

    git clone https://github.com/aerostack2/aerostack2.git -b 674-swarm-behavior-control

For more information on how to build it, read the official Aerostack2 documentation[documentation]

2. Clone this repository

    git clone https://github.com/carmendrpr/flocking_behavior.git

Launch simulation mission

Triangle shape with 3 drones

    ./launch_as2.bash 

Dynamic formation

    ./launch_as2.bash -m

Twelve drones

    ./launch_as2.bash -a

How to stop

    ./stop.bash

Launch real mission

1. Change the current branch to the real_model

    git checkout real_model

2. Launch the mission

    ./launch_as2.bash

Maintainers

• Carmen De Rojas Pita-Romero
  • Email: c.derojas@alumnos.upm.es
• Pedro Arias Pérez
  • Email: pedro.ariasp@upm.es