A Decentralized, Low-Cost Indoor Autonomous Aerial Swarm With Open-Source Intelligence

Abstract

This research presents the design, implementation, and evaluation of a cost-effective indoor drone swarm system that enables autonomous, cooperative behavior among aerial robots through decentralized communication and open-source software. Inspired by natural swarming behaviors, the system allows drones to communicate directly with each other and a central Ground Control Station (GCS) using Wi-Fi, facilitating real-time data exchange and dynamic task allocation. Each drone is equipped with inertial and optical flow sensors for GPS-independent navigation, as well as LiDAR for altitude measurement. The modular architecture features a robust hardware platform constructed with lightweight materials and impact-resistant components. The software framework integrates ArduPilot, ROS, and a custom web-based interface for realtime control and monitoring. This work demonstrates how indoor drone swarms can achieve continuous operation through autonomous coordination, setting the stage for scalable indoor aerial robotics applications.