micros-uav / ATI

Data and codes of simulations and real-world experiments for "Assemble topological interaction overcomes consistency-cohesion trade-off in complex environments". They are generated based on the $\it{CoFlyers}$ platform which is available at https://github.com/micros-uav/CoFlyers.

Data

All data is in the "data" file path.

Simulation

run "matlab_simulink_ws/Prototype_Simulator/main_rapid_prototyping.m" to see the motion of simulated drone swarms in complex environments.

All parameters are configured in "matlab_simulink_ws/Prototype_Simulator/parameters.xml".

int_type__: 0:KTI, 1:SBTI, 2:HTI, 3:ATI, 4:DMI. k__: Neighbour number of KTI. mu__: Angular resolution of SBTI. r_m__: Cutoff distance of DMI. p_informed__: Proportion of informed agents.

Real-world experiment

Require an OptiTrack motion capture system and some Tello EDU drones.

In "parameters.xml", set flag_prac__ to 1; set sim_quad to 0 in field of "simulink".

Control the drone swarms through "matlab_simulink_ws/Simulink_Module/testControlWithDroneSwarm.slx".

See details at https://github.com/micros-uav/CoFlyers.