Ferraro, Alessia;
Scordamaglia, Valerio;
Boem, Francesca;
(2025)
Scalable Coordinated Control of UAV Swarms : A
Null Space Behavioral Approach for SAR Missions.
In:
2025 IEEE International Workshop on Technologies for Defense and Security (TechDefense), Proceedings.
IEEE: Rome, Italy.
(In press).
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Abstract
This paper proposes a decentralized priority-based control strategy, employing a Null-Space Behavioral (NSB) approach, to improve the search and rescue (SAR) capabilities of multi-drone systems in post-disaster scenarios. The method ensures scalability and coordination among swarms of UAVs operating in complex 3D environments. Each UAV autonomously adapts its behavior according to a predefined task hierarchy within a fully decentralized architecture designed to maintain efficiency as swarm size increases. The search strategy is structured in three phases: In the first phase, a simultaneous patrol is performed using pre-planned trajectories to cover a large area; in the second phase, the detection mode is activated when a target enters one drone’s field of view, followed by an inspection maneuver; and finally, in the third phase after precise localization, the drone alerts the teammates, who converge on the target by performing a dedicated task and position themselves around it to initiate a coordinated identification.
| Type: | Proceedings paper |
|---|---|
| Title: | Scalable Coordinated Control of UAV Swarms : A Null Space Behavioral Approach for SAR Missions |
| Event: | IEEE TechDefense 2025 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://techdefense.org/ |
| Language: | English |
| Additional information: | This version is the author-accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Coordinated Control, UAVs Swarm, Null Space Behavioral Approach, SAR Missions |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10216132 |
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