A study on force-based collaboration in flying swarms

Chiara Gabellieri, Marco Tognon, Lucia Pallottino, Antonio Franchi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)


This work investigates collaborative aerial transportation by swarms of agents based only on implicit information, enabled by the physical interaction among the agents and the environment. Such a coordinating mechanism in collaborative transportation is a basic skill in groups of social animals. We consider cable-suspended objects transported by a swarm of flying robots and we formulate several hypothesis on the behavior of the overall system which are validated thorough numerical study. In particular, we show that a nonzero internal force reduces to one the number of asymptotically stable equilibria and that the internal force intensity is directly connected to the convergence rate. As such, the internal force represents the cornerstone of a communication-less cooperative manipulation paradigm in swarms of flying robots. We also show how a swarm can achieve a stable transportation despite the imprecise knowledge of the system parameters.

Original languageEnglish
Title of host publicationSwarm Intelligence - 11th International Conference, ANTS 2018, Proceedings
EditorsChristian Blum, Andreagiovanni Reina, Marco Dorigo, Mauro Birattari, Anders L. Christensen, Vito Trianni
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783030005320
Publication statusPublished - 2018
Externally publishedYes
Event11th International Conference on Swarm Intelligence, ANTS 2018 - Rome, Italy
Duration: 29 Oct 201831 Oct 2018
Conference number: 11

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11172 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference11th International Conference on Swarm Intelligence, ANTS 2018
Abbreviated titleANTS 2018


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