TagirMuslimov/Swarm_with_VortexVectField

Vortex vector field for collision avoidance in drone swarm formation control

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