Implementation of swarm aggregation in quadrotor swarms using an artificial potential function model

Swarm robotics is one of the novel approaches being explored in multiple quadrotor. It aims to mimic social behaviors of animals and insects. This paper presents the physical implementation of the swarm behavior aggregation in a quadrotor swarm. It is implemented over a quadrotor swarm testbed that makes use of external motion capture cameras. The completed algorithm makes use of the artificial potential function model with a linear attraction and bounded repulsion. Results show successful demonstration of the aggregation algorithm with minimal error in position. It is tested for an increasing number of quadrotors and errors are seen to increase with swarm size. Results show an error of 3.293 cm from the individual target position for aggregation. It also shows and average aggregation speed of 1.896 secs for all test while having an increase in aggregation speed of about 1.772 sec per increase in swarm size. The time in aggregate is seen to be at an average of 98.5405% of the time. All the tests show successful demonstration of the swarming behavior which can now mark the start of development of implementation of more complex swarming behaviors.