Decentralized Coordination of Autonomous Drone Swarms

Abstract

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Key Contributions

We introduce a decentralized planner whose convergence can be characterized by the Lyapunov function below.

Methodology

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The candidate Lyapunov function is

$V(x) = \frac{1}{2} \sum_{i=1}^{n} \| x_i - x_i^* \|^2$

and its time derivative satisfies $\dot{V}(x) \le 0$ along closed-loop trajectories.

Results

• 30% reduction in inter-agent collisions versus the centralized baseline.
• Scales linearly to 50 agents in simulation.

Conclusion

The proposed decentralized scheme achieves near-centralized performance with only local communication.