Decentralized Field Coverage with Micro-Drone Swarms
Autonomous Area Coverage
This project implements a decentralized control strategy for optimal area coverage using a swarm of micro-drones, validated on hardware using Vicon motion capture.
Methodology:
- Sensor Modeling: We model sensor efficacy using a bell-shaped function. The control law drives the drones to maximize total area coverage based on the vector sum of attraction forces within their sensor range.
- Robustness & Safety: We integrated a switching control strategy to resolve local minima (deadlocks) and employed Artificial Potential Fields (APF) to ensure real-time collision avoidance between agents.