Videos
These videos showcase some of what we have been able to achieve so far in our project. Most modern browsers will let you watch them directly. If not, you can download (on Firefox, right click ➡ Save Video As) and watch them with a video player, such as VLC. These videos were created by running DART software we developed on the V-REP simulator, and using V-REP's video recorder.
This video demonstrates a collision avoidance protocol we developed and verified. The protocol works on mobile robots able to move in two dimensions on a grid. It is based on Example-01.
This video demonstrates the same collision avoidance as the last one, with two potential collisions being averted. It is also based on Example-01.
This video demonstrates 5 quadcopters moving in a formation, while avoiding collisions using our protocol. It is based on Example-02.
This video demonstrates 9 quadcopters moving in a loose formation, while avoiding collisions using our protocol. It is based on Example-03.
This video demonstrates 9 quadcopters moving in a tight formation. It is based on Example-04, and uses a more aggressive collision avoidance protocol that relies on assumptions about the relative velocities of the nodes.
This video demonstrates 5 quadcopters with self-adaptive behavior. The top right corner of the map is red, indicating a high hazard area. The copters start initially in a loose formation which provides high speed but low protection from hazards to the leader at the center. Before they enter the high hazard area, the adaptation manager running on the leader triggers a change to a tight formation that provides more protection to it, while slowing the movement. As the copters leave the high hazard area, the leader triggers a switch back to the loose formation to regain speed. Thus, the system uses self-adaptation to optimize speed and protection. All copters also continually execute our verified collision avoidance protocol. This video is based on Example-05.
This video demonstrates two groups of quadcopters moving along separate paths but coordinating to avoid collisions. Each group has a leader at the center surrounded by 4 protectors. The two group leaders only share minimal information needed to avoid collision between their respective groups. The groups synchronize after reaching the midpoint of their paths. This video is based on Example-09c. Playing at high speed is advised.
This video demonstrates three quadcopters, each with two sensors (forward and downward) to detect friendly (green) and adversarial (red) obstacles. The nodes move up to avoid both types of obstacles. However, they move much higher for the adversarial obstacles compared to the friendly ones. This video demonstrates obstacle detection and 3D movement. It is based on example bud/bud-example-12. Playing at high speed is advised.