Thesis (Ph.D.) - Cairo University - Faculty of Engineering - Department of Aerospace Engineering

Small Unmanned Flying Vehicles (UFV) such as multicopters have gained a considerable popularity over the last years.This noticeable interest has arisen due to their versatility, agility, maneuverability, and large range of applications. However, some complicated tasks and applications required a swarm formation consists of multiple flying robots working in a collaborative and coordinated manner to effectively accomplish the intended missions.This dissertation proposes a set of algorithmsto deal with motion planning, trajectory generation and control of basic behaviors and typical missions in swarm robotics such as:Synchronous Allocation and Planning of Trajectories (SAPT) both in obstacle-free and obstacle-cluttered environments,Multi-Robots Guidance Problems (MRGP), Pattern Formation and Collective Movement Control (PFCMC), and Guided Swarm to Intercept Moving Targets (GSIMT).Allaforementioned tasksare modeled and implemented in MATLAB with three-dimension animation and simulation to demonstrate the convergence and features of the proposed algorithms.These basic missions will be applied to different swarm applications

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