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A Simulation Analysis of Formations for Flying Multirobot Systems
 

Summary: A Simulation Analysis of Formations
for Flying Multirobot Systems
Francesco AMIGONI, Mauro Stefano GIANI, Sergio NAPOLITANO
Dipartimento di Elettronica e Informazione, Politecnico di Milano
Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Abstract. The ability of flying robots to navigate in a stable formation
is the basis for a large number of applications, ranging from exploration
to surveillance and rescue. However, the performances of 3D robot for-
mations have not been extensively studied in literature. In this paper
we present the results of a simulation study evaluating the adaptability
of different flying robot formations to different kinds of environments.
1 Introduction
Flying multirobot systems can effectively address several applications, including explo-
ration, data acquisition, surveillance, rescue, inspection, and military operations [8]. In
all these applications, the basic skill required to multirobot systems is the ability to
flying while maintaining a stable formation, intended as the spatial arrangement of the
robots in a given form [1, 9].
In this paper we present a simulation study evaluating the adaptability of differ-
ent flying robot formations to different typologies of environments. This adaptability
analysis, that constitutes the main original contribution of this paper, measures how

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences