On Rapid Parallel Tuning of Controllers of a Swarm of MAVs -- Distribution Strategies of the Updated Gains
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00378358" target="_blank" >RIV/68407700:21230/24:00378358 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICARCV63323.2024.10821603" target="_blank" >https://doi.org/10.1109/ICARCV63323.2024.10821603</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICARCV63323.2024.10821603" target="_blank" >10.1109/ICARCV63323.2024.10821603</a>
Alternative languages
Result language
angličtina
Original language name
On Rapid Parallel Tuning of Controllers of a Swarm of MAVs -- Distribution Strategies of the Updated Gains
Original language description
In this paper, we present a reliable, scalable, time deterministic, model-free procedure to tune swarms of Micro Aerial Vehicles (MAVs) using basic sensory data. Two approaches to taking advantage of parallel tuning are presented. First, the tuning with averaging of the results on the basis of performance indices reported from the swarm with identical gains to decrease the negative effect of the noise in the measurements. Second, the tuning with parallel testing of varying set of gains across the swarm to reduce the the tuning time. The presented methods were evaluated both in simulation and real-world experiments. The achieved results show the ability of the proposed approach to improve the results of the tuning while decreasing the tuning time, ensuring at the same time a reliable tuning mechanism.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)
ISBN
979-8-3315-1849-3
ISSN
2474-2953
e-ISSN
2474-963X
Number of pages
7
Pages from-to
1182-1188
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
New York
Event location
Dubai
Event date
Dec 12, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001435120000189