Fluid Flow Modeling and Experimental Evaluation of Unscrewed Aerial System Coordination

Reliability is a critical aspect of multi-agent system coordination as it guarantees the system's accurate and consistent functionality. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and effectiveness of the entire system. Therefore, it is important to design and implement multi-agent systems with a high level of reliability to ensure that they can operate safely and move smoothly in the presence of unforeseen agent failure or lack of communication with some agent teams moving in a shared motion space. This paper presents a novel navigation model that, in an ideal fluid-flow, divides agents into cooperative (non-singular) and non-cooperative (singular) agents, with cooperative agents sliding along streamlines safely enclosing non-cooperative agents in a shared motion space. A series of flight experiments utilizing crazyflie quadcopters will experimentally validate the suggested model.