Multi-layered Approach to Safe Navigation of Swarms of Drones

  • Inna VistbakkaEmail author
  • Amin Majd
  • Elena Troubitsyna
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11094)


Swarms of drones are complex distributed systems that should operate safely, i.e., avoid collisions with each other and unforeseen objects appearing in the flight zones. Ensuring safety of drone navigation is challenging due to unreliability of drones, communication channels and non-determinism of the operating environment. In this paper, we propose a novel multi-layered approach to ensuring safety of drone navigation. It aims at maintaining an optimal ratio between efficiency of mission execution and safety at a hierarchical distributed way. We formalise the proposed approach in Event-B and derive the coordination and reconfiguration mechanisms ensuring efficiency and safety of mission execution.


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  1. 1.Åbo Akademi UniversityTurkuFinland
  2. 2.KTHStockholmSweden

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