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We present an error tolerant path planning algorithm for Micro Aerial Vehicle(MAV) swarms. We assume navigation without GPS-like techniques. The MAVs findtheir path using sensors and cameras, identifying and following a series ofvisual landmarks. The visual landmarks lead the MAVs towards their destination.MAVs are assumed to be unaware of the terrain and locations of the landmarks.They hold a priori information about landmarks, whose interpretation is proneto errors. Errors are of two types, recognition or advice. Recognition errorsfollow from misinterpretation of sensed data or a priori information, orconfusion of objects, e.g., due to faulty sensors. Advice errors areconsequences of outdated or wrong information about landmarks, e.g., due toweather conditions. Our path planning algorithm is cooperative. MAVscommunicate and exchange information wirelessly, to minimize the number ofrecognition and advice errors. Hence, the quality of the navigation decisionprocess is amplified. Our solution successfully achieves an adaptive errortolerant navigation system. Quality amplification is parameterized with respectto the number of MAVs. We validate our approach with theoretical proofs andnumeric simulations.

Error Tolerant Path Planning for Swarms of Micro Aerial Vehicles with Quality Amplification