vswarm

The vswarm package enables decentralized vision-based control of drone swarms without relying on inter-agent communication or visual fiducial markers.

This repository contains the source code accompanying our article:

F. Schilling, F. Schiano, and D. Floreano, "Vision-based Drone Flocking in Outdoor Environments," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 2954-2961, 2021.

The package provides its main functionality in the following modules:

• Visual detection of neighboring drones from omnidirectional images using a convolutional neural network
• Relative localization based on camera parameters and the known physical size of the drones
• Multi-target tracking to estimate the position and velocity of the drones
• Multi-agent control using a Reynolds-inspired flocking algorithm