Predictive Search Model of Flocking for Quadcopter Swarm in the Presence of Static and Dynamic Obstacles

The folder includes experimental data for the paper titled "Predictive Search Model of Flocking for Quadcopter Swarm in the Presence of Static and Dynamic Obstacles". In the paper, we present a Predictive Search Model (PSM) for flocking with Heading and Speed Shared (HSS) and Heading and Speed Unshared (HSU) prediction methods. We compare the performance of PSM with Potential Field Model (PFM) in the presence of static and dynamic obstacles in simulation. Also, we validate the performance of PSM with a quadcopter swarm indoors. The 'simulation experiments' folder includes simulation experiment data and MATLAB scripts that can simulate the experiments and provide plots for analysis. The 'quadcopter experiments' folder includes quadcopter experiment data and MATLAB scripts that can simulate the experiments and provide plots for analysis.