부산대학교 도서관

This paper examines the impact of packet loss to a set of path planning algorithms targeted to swarms of autonomous Unmanned Aerial Vehicles (UAV). We provide a brief overview of three deconfliction algorithms, utilizing virtual forces, velocity control and a bidding mechanism, respectively. We apply these algorithms to a use case where swarms pass through one another within a constrained urban environment. We then vary the level of packet loss within this use case and analyze the impact of packet loss to the swarm coherency produced by these algorithms.