Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Interaction and intelligent behavior
Interaction and intelligent behavior
Coordination and control of multi-agent dynamic systems: models and approaches
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Nonlinear dynamics modelling for controller evolution
Proceedings of the 9th annual conference on Genetic and evolutionary computation
Connection Science
Experimenting with Language Support for Proximity in Ambient-Oriented Programming
Engineering Environment-Mediated Multi-Agent Systems
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We describe further progress towards the development of a MAV (micro aerial vehicle) designed as an enabling tool to investigate aerial flocking. Our research focuses on the use of low cost off the shelf vehicles and sensors to enable fast prototyping and to reduce development costs. Details on the design of the embedded electronics and the modification of the chosen toy helicopter are presented, and the technique used for state estimation is described. The fusion of inertial data through an unscented Kalman filter is used to estimate the helicopter's state, and this forms the main input to the control system. Since no detailed dynamic model of the helicopter in use is available, a method is proposed for automated system identification, and for subsequent controller design based on artificial evolution. Preliminary results obtained with a dynamic simulator of a helicopter are reported, along with some encouraging results for tackling the problem of flocking.