The project aimed to enhance the coordination and performance of heterogeneous robot swarms through a self-organized hierarchical control architecture. Key accomplishments include:
1. Developed the S-Drone, a novel, versatile quadrotor platform for swarm robotics research with onboard processing and sensing capabilities.
2. Designed a hierarchical control architecture enabling dynamic switching between distributed and centralized control, based on task requirements.
3. Implemented decentralized control algorithms, consensus-based control, and leader-follower approaches for efficient swarm coordination.
4. Demonstrated improved swarm performance through simulations and real-world experiments, showcasing enhanced task completion time, robustness, and adaptability.
The project’s findings advance swarm robotics, providing insights into self-organized hierarchical control for multi-robot systems. Practical applications include military and civilian domains.