Self-organized Chain Formation of Nano-Drones in an Open Space

Agata Barciś; Michał Barciś; Enrico Natalizio; Eliseo Ferrante

doi:10.1007/978-3-031-20176-9_18

Self-organized Chain Formation of Nano-Drones in an Open Space

Agata Barciś^*, Michał Barciś, Enrico Natalizio, Eliseo Ferrante

^*Corresponding author for this work

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

We propose a method for the chain formation of multiple agents in an open space. Chaining can be considered as a building block for several application scenarios, including exploration, maintaining connectivity, or path formation. The proposed method was designed for a very sensing and computationally constrained robot platform, more specifically for nano-drones as they offer advantages in applications in tight spaces or in the proximity of people. To enable portability to a real platform, the method relies on a range and bearing sensing model with a limited field of view that is susceptible to occlusions, which was implemented both in simulation as well as on the real robot through a camera coupled with LEDs. We analyze the method in the simulation-based study. We show that the method works even in presence of noise in sensing and actuation, which rather than being harmful to the chaining performance has a positive effect. We analyze the performance in terms of quality of final chain formation, and speed of convergence, and how these two are affected by increasing swarm size. Finally, we present its practical feasibility in a robotic proof-of-concept featuring nano-drones.

Original language	English
Title of host publication	Swarm Intelligence
Subtitle of host publication	13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings
Editors	Marco Dorigo, Volker Strobel, Christian Camacho-Villalón, Heiko Hamann, Heiko Hamann, Manuel López-Ibáñez, José García-Nieto, Andries Engelbrecht, Carlo Pinciroli
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	222-233
Number of pages	12
ISBN (Electronic)	9783031201769
ISBN (Print)	9783031201752
DOIs	https://doi.org/10.1007/978-3-031-20176-9_18
Publication status	Published - 2022
Event	13th International Conference on Swarm Intelligence, ANTS 2022 - Malaga, Spain Duration: 2 Nov 2022 → 4 Nov 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13491 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	13th International Conference on Swarm Intelligence, ANTS 2022
Country/Territory	Spain
City	Malaga
Period	2/11/22 → 4/11/22

Bibliographical note

Publisher Copyright:
© 2022, Springer Nature Switzerland AG.

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This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-031-20176-9_18

Self-organized Chain Formation of Nano-Drones in an Open SpaceFinal published version, 999 KBLicence: Article 25fa Dutch Copyright Act

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Cite this

Barciś, A., Barciś, M., Natalizio, E., & Ferrante, E. (2022). Self-organized Chain Formation of Nano-Drones in an Open Space. In M. Dorigo, V. Strobel, C. Camacho-Villalón, H. Hamann, H. Hamann, M. López-Ibáñez, J. García-Nieto, A. Engelbrecht, & C. Pinciroli (Eds.), Swarm Intelligence: 13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings (pp. 222-233). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13491 LNCS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-20176-9_18

Barciś, Agata ; Barciś, Michał ; Natalizio, Enrico et al. / Self-organized Chain Formation of Nano-Drones in an Open Space. Swarm Intelligence: 13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings. editor / Marco Dorigo ; Volker Strobel ; Christian Camacho-Villalón ; Heiko Hamann ; Heiko Hamann ; Manuel López-Ibáñez ; José García-Nieto ; Andries Engelbrecht ; Carlo Pinciroli. Springer Science and Business Media Deutschland GmbH, 2022. pp. 222-233 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Self-organized Chain Formation of Nano-Drones in an Open Space",

abstract = "We propose a method for the chain formation of multiple agents in an open space. Chaining can be considered as a building block for several application scenarios, including exploration, maintaining connectivity, or path formation. The proposed method was designed for a very sensing and computationally constrained robot platform, more specifically for nano-drones as they offer advantages in applications in tight spaces or in the proximity of people. To enable portability to a real platform, the method relies on a range and bearing sensing model with a limited field of view that is susceptible to occlusions, which was implemented both in simulation as well as on the real robot through a camera coupled with LEDs. We analyze the method in the simulation-based study. We show that the method works even in presence of noise in sensing and actuation, which rather than being harmful to the chaining performance has a positive effect. We analyze the performance in terms of quality of final chain formation, and speed of convergence, and how these two are affected by increasing swarm size. Finally, we present its practical feasibility in a robotic proof-of-concept featuring nano-drones.",

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Barciś, A, Barciś, M, Natalizio, E & Ferrante, E 2022, Self-organized Chain Formation of Nano-Drones in an Open Space. in M Dorigo, V Strobel, C Camacho-Villalón, H Hamann, H Hamann, M López-Ibáñez, J García-Nieto, A Engelbrecht & C Pinciroli (eds), Swarm Intelligence: 13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13491 LNCS, Springer Science and Business Media Deutschland GmbH, pp. 222-233, 13th International Conference on Swarm Intelligence, ANTS 2022, Malaga, Spain, 2/11/22. https://doi.org/10.1007/978-3-031-20176-9_18

Self-organized Chain Formation of Nano-Drones in an Open Space. / Barciś, Agata; Barciś, Michał; Natalizio, Enrico et al.
Swarm Intelligence: 13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings. ed. / Marco Dorigo; Volker Strobel; Christian Camacho-Villalón; Heiko Hamann; Heiko Hamann; Manuel López-Ibáñez; José García-Nieto; Andries Engelbrecht; Carlo Pinciroli. Springer Science and Business Media Deutschland GmbH, 2022. p. 222-233 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13491 LNCS).

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Barciś A, Barciś M, Natalizio E, Ferrante E. Self-organized Chain Formation of Nano-Drones in an Open Space. In Dorigo M, Strobel V, Camacho-Villalón C, Hamann H, Hamann H, López-Ibáñez M, García-Nieto J, Engelbrecht A, Pinciroli C, editors, Swarm Intelligence: 13th International Conference, ANTS 2022, Málaga, Spain, November 2–4, 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 222-233. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). Epub 2022 Oct 29. doi: 10.1007/978-3-031-20176-9_18