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Distributed Lloyd-Based Algorithm for Uncertainty-Aware Multi-Robot Under-Canopy Flocking
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DOI：10.1109/LRA.2026.3673985.png)
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Abstract
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In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing and computation capabilities. We provide sufficient conditions to guarantee collision avoidance with obstacles and other robots without exceeding a desired maximum distance from a predefined set of neighbors (flocking or proximity maintenance constraint) during the mission. The proposed approach allows to operate in crowded scenarios and to explicitly deal with tracking errors and on-board sensing errors. The algorithm was verified through simulations with varying number of UAVs and also through numerous real-world experiments in a dense forest involving up to four UAVs.
Keywords:
Multi-robot systems
distributed control
lloyd-based algorithms
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