A ROS 2 Jazzy + Gazebo Harmonic based multi-drone surveillance simulation. The system implements a swarm of three modified X3 quadcopters equipped with cameras and onboard object detection using YOLOv11.
A fleet of drones is flying towards a objective. There is a leader drone who regularly broadcasts the objective's position to the others. We simulate an attack where the leader drone is compromised and now sends to each drone a fake objective position.
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