Modeling and Simulation of Scalable Flocking with Fully Autonomous Quadrotors

摘要

A scalable flocking model allows multiple quadrotors to be added to the runtime environment at any given moment without any impact to the flock. In this research we created a simulator that allows fully autonomous quadrotors to follow a dynamic list of behaviors. These behaviors, separation, alignment, cohesion, targeting, and informed avoidance direct a group of quadrotors. We present a simulator model to add autonomous quadrotors to a flock, the mathematical model of boid behaviors provided to each flock member, and the simulator results of our scalable flocking model.