Consensus theory represents a relevant strategy for the control of distributed multi-UAV missions, whose main feature is the local inter-agent communication. Besides the physical characteristics of the swarm, a proper simulation environment must take into account such communication properties. In this paper, a formation consensus algorithm is implemented in ROS/Gazebo through the use of docker containers, so that the features of a real network can be included in the simulation. Performance metrics are provided to help researchers to validate the impact of communication delays on the performance of the algorithm.
Implementation and Performance Evaluation of a Consensus Protocol for Multi-UAV Formation with Communication Delay / Lizzio, FAUSTO FRANCESCO; Capello, Elisa; Guglieri, Giorgio. - ELETTRONICO. - (2022), pp. 1592-1600. (Intervento presentato al convegno THE 2022 INT´L CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS tenutosi a Dubrovnik, Croatia nel June 21-24, 2022) [10.1109/ICUAS54217.2022.9836201].
Implementation and Performance Evaluation of a Consensus Protocol for Multi-UAV Formation with Communication Delay
Lizzio Fausto Francesco;Capello Elisa;Guglieri Giorgio
2022
Abstract
Consensus theory represents a relevant strategy for the control of distributed multi-UAV missions, whose main feature is the local inter-agent communication. Besides the physical characteristics of the swarm, a proper simulation environment must take into account such communication properties. In this paper, a formation consensus algorithm is implemented in ROS/Gazebo through the use of docker containers, so that the features of a real network can be included in the simulation. Performance metrics are provided to help researchers to validate the impact of communication delays on the performance of the algorithm.File | Dimensione | Formato | |
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https://hdl.handle.net/11583/2972125