Target Capturing in an Ellipsoidal Region with a Swarm of Quadrotor UAVs

Merzi M. A., GAZİ V., Fedele G., D'Alfonso L., Bono A.

International Conference on Unmanned Aircraft Systems (ICUAS), Dubrovnik, Croatia, 21 - 24 June 2022, pp.972-981 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/icuas54217.2022.9836166
  • City: Dubrovnik
  • Country: Croatia
  • Page Numbers: pp.972-981
  • Yıldız Technical University Affiliated: Yes


In a recent paper [1], we developed a target capturing strategy for swarms composed of double integrator agents. In this paper, we build on the results in [1] and focus on the implementation of the methodology for a swarm composed of quadrotor UAVs. We utilize both MATLAB and ROS environments under realistic conditions for that purpose. In ROS, we utilize Ultra-Violet LED blinkers based Ultra-Violet Direction And Ranging (UVDAR) system for relative localization. The sensing and localization errors serve as realistic errors for the assumptions in [1] for the uncertainties of the velocity and acceleration of the target. We verify in a realistic scenario that the agents converge to a user-defined ellipsoidal ring around the target despite the uncertainties and the more realistic agent dynamics.