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SwarmGear: Heterogeneous Swarm of Drones with Reconfigurable Leader Drone and Virtual Impedance Links for Multi-Robot Inspection. (arXiv:2304.02956v1 [cs.RO])

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The continuous monitoring by drone swarms remains a challenging problem due
to the lack of power supply and the inability of drones to land on uneven
surfaces. Heterogeneous swarms, including ground and aerial vehicles, can
support longer inspections and carry a higher number of sensors on board.
However, their capabilities are limited by the mobility of wheeled and legged
robots in a cluttered environment.


In this paper, we propose a novel concept for autonomous inspection that we
call SwarmGear. SwarmGear utilizes a heterogeneous swarm that investigates the
environment in a leader-follower formation. The leader drone is able to land on
rough terrain and traverse it by four compliant robotic legs, possessing both
the functionalities of an aerial and mobile robot. To preserve the formation of
the swarm during its motion, virtual impedance links were developed between the
leader and the follower drones.


We evaluated experimentally the accuracy of the hybrid leader drone's ground
locomotion. By changing the step parameters, the optimal step configuration was
found. Two types of gaits were evaluated. The experiments revealed low
crosstrack error (mean of 2 cm and max of 4.8 cm) and the ability of the leader
drone to move with a 190 mm step length and a 3 degree standard yaw deviation.
Four types of drone formations were considered. The best formation was used for
experiments with SwarmGear, and it showed low overall crosstrack error for the
swarm (mean 7.9 cm for the type 1 gait and 5.1 cm for the type 2 gait).


The proposed system can potentially improve the performance of autonomous
swarms in cluttered and unstructured environments by allowing all agents of the
swarm to switch between aerial and ground formations to overcome various
obstacles and perform missions over a large area.

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