Publications de Enrica Soria | EPFL Graph Search

On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions

Dario Floreano, Fabian Maximilian Schilling, Enrica Soria

Vision-based drone swarms have recently emerged as a promising alternative to address the fault-tolerance and flexibility limitations of centralized and communication-based aerial collective systems. Although most vision-based control algorithms rely on th ...

2022

Swarms of flying robots in unknown environments

Enrica Soria

An optimal planning algorithm enables swarms of flying robots to explore unknown environments autonomously and safely. ...

2022

Distributed Predictive Drone Swarms in Cluttered Environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

2022

Model Predictive Control of Aerial Swarms

Enrica Soria

Aerial robot swarms can have a large socio-economic impact. They can perform time-critical missions faster than a single robot and access dangerous environments without compromising human safety. However, swarm deployment is often limited to free environme ...

EPFL2022

Predictive control of aerial swarms in cluttered environments

Dario Floreano, Enrica Soria, Fabrizio Schiano

Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with potential fields. Despite their explanatory suc ...

2021

SwarmLab: a MATLAB Drone Swarm Simulator

Dario Floreano, Enrica Soria, Fabrizio Schiano

Among the available solutions for drone swarm simulations, we identified a lack of simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis. Moreover, users who want to dive in the research field of drone swa ...

2020

The influence of limited visual sensing on the Reynolds ﬂocking algorithm

Dario Floreano, Enrica Soria, Fabrizio Schiano

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which ...

2019