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TagirMuslimov/Swarm_with_VortexVectField: Vortex vector field for collision avoidance in drone swarm formation control · GitHub

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scripts		scripts
src		src
README.md		README.md

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README

Swarm_with_VortexVectField

Videos of software-in-the-loop (SITL) simulations with the sim_cf2 (Gazebo 11/ROS 2 Humble/Ubuntu 22.04, 1st order model)

Vortex vector field modification for artificial potential field (APF) method for drone swarm: https://youtu.be/t6tj_zvrMNU
Standard artificial potential field (APF) method for drone swarm: https://youtu.be/M4jWMtSRMyA
No collision avoidance algorithms for drone swarm: https://youtu.be/hYMZntE4SjE

Videos of software-in-the-loop (SITL) simulations with the sim_cf2 (Gazebo 11/ROS 2 Humble/Ubuntu 22.04, 2nd order model)

Vortex vector field modification for artificial potential field (APF) method for drone swarm: https://youtu.be/Awm-PiMidvw
Standard artificial potential field (APF) method for drone swarm: https://youtu.be/Hqe9J_Ocm24
No collision avoidance algorithms for drone swarm: https://youtu.be/RCol4bURmTU

Real Flight

1st order model: https://youtu.be/_m4bb0NlOJs
2nd order model: https://youtu.be/djQX9DaK3y0

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Vortex vector field for collision avoidance in drone swarm formation control

artificial-potential-field collision-avoidance crazyflie crazyflie-drone drone-swarm formation-control formation-flight swarming uav-swarm

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