Server based control flocking for aerial-systems

Flocking is a term that describes the behavior of a group of birds (a flock) in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems “Boids” such as ground systems (robotic vehicles/ swarm robots) in 2D and/or aerial systems (quadrotors) in 3D. Each one of these systems moves inside/outside of a building collectively to reach a target. This paper presents flocking behavior implemented on a server based control, which will process each of the boids properties e.g. position, speed & target. Subsequently the server will assign the appropriatee move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to the famous Reynolds´ Rules for flocking two other rules are presented; one for targeting and another for avoiding obstacles. The targeting rule was implemented to ensure that the flock moves collectively towards a common target; it was implemented by creating a target velocity parameter. The avoiding obstacles rule was implemented to ensure that the flock doesnt collide with obstacles that they could be in the path; it was implemented by creating an avoiding velocity parameter.