Online Flocking Control of UAVs with Mean-Field Approximation [ICRA 2021]
This repository contains the code for the ICRA-2021 publication titled "Online Flocking Control of UAVs with Mean-Field Approximation".
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| A swarm of 8 quadrotors demostrating flocking behavior. |
Install dependencies
Please install Eigen, Armadillo and GNU Science Library (GSL) before you continue.
Building the simulator
This uses a modified version of the Mavswarm simulator. Check https://github.com/Malintha/multi_uav_simulator for the latest version.
Clone the mean_field_flocking repository to your catkin workspace. i.e: (~/catkin_ws/src/).
git clone https://github.com/malintha/mean_field_flocking
Use catkin build to build the packages as below.
catkin build mrf_dynamics
Run the simulation by launching the mrf_dynamics/launch/mrf.launch file. This will create open up a Rviz window and simulate 8 Crazyflie quadrotors in flocking motion.
source devel/setup.bash
roslaunch mrf_dynamics mrf.launch
Consider citiing our work if you find this code helpful for your publications.
@INPROCEEDINGS{9560899,
author={Fernando, Malintha},
booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
title={Online Flocking Control of UAVs with Mean-Field Approximation},
year={2021},
volume={},
number={},
pages={8977-8983},
doi={10.1109/ICRA48506.2021.9560899}}