Tesi etd-11202025-010329 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
FIORINI, RICCARDO
URN
etd-11202025-010329
Titolo
Development of drone swarm coordination logic in multi-domain testbed on PX4/ROS2/Gazebo
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
COMPUTER ENGINEERING
Relatori
relatore Prof. Cimino, Mario Giovanni Cosimo Antonio
correlatore Prof. Foglia, Pierfrancesco
tutor Ing. Arancio Febbo, Salvatore
correlatore Prof. Foglia, Pierfrancesco
tutor Ing. Arancio Febbo, Salvatore
Parole chiave
- autonomous navigation
- cooperative exploration
- flocking
- Gazebo
- Px4 autopilot
- Ros2
- stigmergy
- swarm robotics
Data inizio appello
05/12/2025
Consultabilità
Non consultabile
Data di rilascio
05/12/2095
Riassunto
The objective of the thesis is to develop a model based on attractive or repulsive potential that acts as an actuator or sensor for vehicles in terrestrial, aerial, marine or underwater environments. This potential makes the control and coordination logics of the swarm interoperable, as well as allowing the development of centralized and distributed logics within swarm missions. Performance will be measured within a testbed composed of realistic missions, and compared with the state of the art.
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