高速かつ同期した周期的群れパターンによるクアッドロータの振付設計
Fast and In Sync: Periodic Swarm Patterns for Quadrotors
25機のクアッドロータ群れで、動きのプリミティブ設計・遷移・同期を統合し、滑らかで遅延補正された周期的な群れパターンの振付を実験的に実現した論文。
著者: Xintong Du, Carlos E. Luis, Marijan Vukosavljev, Angela P. Schoellig
分類: cs.RO
原文アブストラクト
This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creating a choreography into three basic steps: designing swarm motion primitives, transitioning between those movements, and synchronizing the motion of the drones. The result is a flexible framework for designing choreographies comprised of a wide variety of motions. The motion primitives can be intuitively designed using few parameters, providing a rich library for choreography design. Moreover, we combine and adapt existing goal assignment and trajectory generation algorithms to maximize the smoothness of the transitions between motion primitives. Finally, we propose a correction algorithm to compensate for motion delays and synchronize the motion of the drones to a desired periodic motion pattern. The proposed methodology was validated experimentally by generating and executing choreographies on a swarm of 25 quadrotors.
