Implementation of Real-Time Swarm Drone Formation Using Firebase and MIT App Inventor with Interpolation-Based Control in Gazebo

Abstract

Swarm drone systems require reliable real-time control to ensure smooth coordination, stable formation transitions, and synchronized motion among multiple unmanned aerial vehicles. However, many existing swarm control studies focus on static formations or predefined trajectories, with limited attention to smooth formation transitions and real-time performance, particularly for low-cost and educational platforms. This study presents the implementation of a real-time swarm drone formation control system using Firebase Realtime Database and an Android- based control interface developed with MIT App Inventor, integrated with the Robot Operating System (ROS) and the Gazebo simulation environment. To improve motion smoothness during formation changes, an interpolation-based motion control approach is applied to generate intermediate waypoints between target positions. The proposed system is evaluated through simulation using five UAVs performing line, triangle, circle, star, and dynamic formation sequences. Simulation results indicate a real-time response delay of approximately 0.4–0.6 seconds and stable hover performance within ±0.05 m at an altitude of 3.5 meters during formation transitions. These results demonstrate that the interpolation-based approach effectively enhances formation smoothness and synchronization in a cloud- integrated swarm drone system, providing a practical and low-cost reference for educational and early-stage swarm drone research.