Distributed Predictive Drone Swarms in Cluttered Environments

This folder contains data, videos, and supplementary material for the article titled "Distributed Predictive Drone Swarms in Cluttered Environments". In the article, we present a Distributed Model Predictive Control (DMPC) algorithm for drone swarm navigation in two types of cluttered environments, i.e., a forest and a funnel-like environment. <br> The material in `zenodo_upload` is organized as follows.<br> 1. a data folder, with the logs of simulation and hardware experiments;<br> 2. an analysis folder, with Matlab scripts that analyze the logs in the data folder;<br> 3. a plotting folder, with Matlab functions used by the analysis scripts;<br> 4. an mp4 video file, on simulation and hardware experiments;<br> 5. a pdf, with supplementary materials.<br> <br> The `qp_swarm` folder contains MATLAB code for simulation experiments.

本文件夹包含题为《杂乱环境下的分布式预测无人机集群》（Distributed Predictive Drone Swarms in Cluttered Environments）的论文相关的数据、视频及补充材料。本文提出了一种面向无人机集群导航的分布式模型预测控制（Distributed Model Predictive Control, DMPC）算法，可适用于两类杂乱环境：森林环境与漏斗状环境。
`zenodo_upload` 内的材料组织如下：
1. 数据文件夹：存储仿真与实体实验的日志文件；
2. 分析文件夹：包含用于分析数据文件夹内日志的Matlab脚本；
3. 绘图文件夹：包含分析脚本所使用的Matlab函数；
4. 一个mp4视频文件：涵盖仿真与实体实验相关内容；
5. 一份补充材料PDF文档。
`qp_swarm` 文件夹包含用于仿真实验的Matlab代码。