#6106. Decentralised aerial swarm for adaptive and energy efficient transport of unknown loads

September 2026publication date
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Journal’s subject area:
Mathematics (all);
Computer Science (all);
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Abstract:
Cooperative transport by a swarm of Quadcopters offers more flexibility and performance when carrying loads that are complex in structural profile and mass. Ensuring that team members of the swarm are optimally placed on these loads as well as able to resist disturbances from the environment during transport are current research challenges. In this paper, we present a decentralized behaviour based subsumption architecture for enabling a swarm of Quadcopters to explore an unfamiliar area, find a load and transport it to a target location cooperatively. In the architecture, three behaviours were used: an obstacle avoidance behaviour to avoid collisions with objects in the environment, a flocking behaviour to ensure swarm structure and a bacterium behaviour for exploration of the environment and to adapt to the mass profile of various detected loads. By adapting to the mass profile of a detected load, we show that our architecture ensures even energy distribution among Quadcopters while achieving robustness to disturbances from the environment.
Keywords:
Aerial swarm robotics; Bacterium chemotaxis behavior; Cooperative transport; Decentralized system; Flocking

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