Swarm Stability Under Changing Parameters of Agents Which Interacted by Thermal Motion Equivalent Method

It is necessary to evaluate the swarm stability under parametric agent deviations to guarantee the stable operation of a multi-agent system of multi-rotor aircraft. The paper presents the results of parametric identification of the swarm network. The paper also presents the results of launching an agent interacting with swarm elements using the thermal motion equivalent method (TMEM) in a laboratory motion capture system. A linearization method of the agent part including motor, speed controller (ESC) and propeller is proposed for the correct implementation of TMEM. A series of numerical simulations based on a nonlinear model of the agents and their network were performed to evaluate the stability of the swarm and the TMEM protocol. The numerical simulation results confirmed the stability of the swarm with negligible deviations of the agents' parameters. In addition., an experiment with running one agent was performed to validate numerical simulation result.