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  4. Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate
 
conference paper

Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate

Hauert, Sabine  
•
Leven, Severin  
•
Varga, Maja  
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2011
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)

The success of swarm behaviors often depends on the range at which robots can communicate and the speed at which they change their behavior. Challenges arise when the communication range is too small with respect to the dynamics of the robot, preventing interactions from lasting long enough to achieve coherent swarming. To alleviate this dependency, most swarm experiments done in laboratory environments rely on communication hardware that is relatively long range and wheeled robotic platforms that have omnidirectional motion. Instead, we focus on deploying a swarm of small fixed-wing flying robots. Such platforms have limited payload, resulting in the use of short-range communication hardware. Furthermore, they are required to maintain forward motion to avoid stalling and typically adopt low turn rates because of physical or energy constraints. The tradeoff between communication range and flight dynamics is exhaustively studied in simulation in the scope of Reynolds flocking and demonstrated with up to 10 robots in outdoor experiments.

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Type
conference paper
DOI
10.1109/IROS.2011.6095129
Web of Science ID

WOS:000297477505057

Author(s)
Hauert, Sabine  
Leven, Severin  
Varga, Maja  
Ruini, Fabio
Cangelosi, Angelo
Zufferey, Jean-Christophe  
Floreano, Dario  
Date Issued

2011

Publisher

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa

Published in
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Series title/Series vol.

IEEE International Conference on Intelligent Robots and Systems

Start page

5015

End page

5020

Subjects

Agents

•

Aerial Robotics

URL

URL

http://lis.epfl.ch/smavs
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIS  
Event nameEvent placeEvent date
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2011)

San Francisco

September 25-30, 2011

Available on Infoscience
October 12, 2011
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/71538
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