Obastacle Avoidance using Swarm Robotics

Intra (General) Repulsion among drones when they are close to each other (when the formation is disturbed):

When one of the drones is displaced a bit, it comes back to its original position in the formation while avoiding other drones that come along its way

Vertical Repulsion of drone formation to avoid collision when one fast-moving external drone approaches them:

The drones in formation rise up when another fast-moving drone approaches them to avoid a collision and finally come back to their proper positions

Basic Setup

Setting up rotors_simulator and mav_control_rw in your system

Comment out the lines for PX-4 Autopilot from the .bashrc file if you have it installed already.

References

1. Furrer, Fadri & Burri, Michael & Achtelik, Markus & Siegwart, Roland. (2016). RotorS – A Modular Gazebo MAV Simulator Framework. 10.1007/978-3-319-26054-9_23. URL: http://dx.doi.org/10.1007/978-3-319-26054-9_23
2. Kamel, Mina Samir & Stastny, Thomas & Alexis, Kostas & Siegwart, Roland. (2017). Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System. 10.1007/978-3-319-54927-9_1. URL: https://link.springer.com/chapter/10.1007/978-3-319-54927-9_1