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All Journal JOURNAL OF APPLIED INFORMATICS AND COMPUTING Journal of Artificial Intelligence and Digital Business JIMEKA Journal of Advances in Linguistics and English Teaching (JALET)
Anggraini, Sarah
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Humanities Computer Science & IT Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Social Sciences Other

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Journal : JOURNAL OF APPLIED INFORMATICS AND COMPUTING

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Implementation of Real-Time Swarm Drone Formation Using Firebase and MIT App Inventor with Interpolation-Based Control in Gazebo Wijaya, Ryan Satria; Soebhakti, Hendawan; Fatekha, Rifqi Amalya; Anggraini, Sarah
Journal of Applied Informatics and Computing Vol. 10 No. 1 (2026): February 2026
Publisher : Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/jaic.v10i1.11767

Abstract

This paper presents the implementation of a real-time swarm drone formation control system that leverages Firebase as the communication bridge and MIT App Inventor as the user interface. The simulation is conducted in the Gazebo environment with five quadcopter drones. Formation commands are sent from an Android application to Firebase, then processed by a Python-based ROS node to adjust drone positions. Four primary formations - line, triangle, circle, and star - are implemented, along with a dynamic mode enabling sequential transitions among multiple patterns. The integration of linear interpolation ensures smooth transitions, consistent timing, and stable hovering. Experimental results show an average response delay of 0.4–0.6 seconds and stable altitude at 3.5 meters. This approach demonstrates an intuitive and scalable swarm control method. Future enhancements may include telemetry feedback, Firebase authentication, and PID tuning to optimize control accuracy.
Co-Authors Afriantoni Afriantoni Alfatah, Fahrul Ihsan Bustamam Bustamam BZ, Fazli Syam Fatekha, Rifqi Amalya Hendawan Soebhakti Khairani, Nikmah Ryan Satria Wijaya Tulsyahdia, Febri Utami, Adel Fiolintia