Decentralized Swarm Safety Verification through Collision Avoidance

Objective:

  • Leverage formal methods concepts to prevent collisions within a real swarm of UAVs.

  • Highlight the limitations swarming capabilities on size, weight, and power-constrained UAVs and underscore the importance of real-world swarm experimentation.

Outcomes:

  • Successfully deployed runtime verification to a swarm of 8 quadrotors.

  • Verification data collected across 140 real UAV flights.

  • Works currently under review for ICCPS 2025

Artifacts:

  • C++/Python ROS application (link will be made public after publication)