SwarmGPT-Primitive: A Language-Driven Choreographer for Drone Swarms Using Safe Motion Primitive Composition
| Autor: | Vyas, Vedant, Schuck, Martin, Dahanaggamaarachchi, Dinushka O., Zhou, Siqi, Schoellig, Angela P. |
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| Rok vydání: | 2024 |
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| Druh dokumentu: | Working Paper |
| Popis: | Catalyzed by advancements in hardware and software, drone performances are increasingly making their mark in the entertainment industry. However, designing smooth and safe choreographies for drone swarms is complex and often requires expert domain knowledge. In this work, we introduce SwarmGPT-Primitive, a language-based choreographer that integrates the reasoning capabilities of large language models (LLMs) with safe motion planning to facilitate deployable drone swarm choreographies. The LLM composes choreographies for a given piece of music by utilizing a library of motion primitives; the language-based choreographer is augmented with an optimization-based safety filter, which certifies the choreography for real-world deployment by making minimal adjustments when feasibility and safety constraints are violated. The overall SwarmGPT-Primitive framework decouples choreographic design from safe motion planning, which allows non-expert users to re-prompt and refine compositions without concerns about compliance with constraints such as avoiding collisions or downwash effects or satisfying actuation limits. We demonstrate our approach through simulations and experiments with swarms of up to 20 drones performing choreographies designed based on various songs, highlighting the system's ability to generate effective and synchronized drone choreographies for real-world deployment. Comment: Submitted to ICRA 2025 |
| Databáze: | arXiv |
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