Self-Organized UAV Flocking Based on Proximal Control

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353587" target="_blank" >RIV/68407700:21230/21:00353587 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICUAS51884.2021.9476847" target="_blank" >https://doi.org/10.1109/ICUAS51884.2021.9476847</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICUAS51884.2021.9476847" target="_blank" >10.1109/ICUAS51884.2021.9476847</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Self-Organized UAV Flocking Based on Proximal Control

Popis výsledku v původním jazyce

In this work, we address the problem of achieving cohesive and aligned flocking (collective motion) with a swarm of unmanned aerial vehicles (UAVs). We propose a method that requires only onboard sensing of the relative range and bearing of neighboring UAVs, and therefore requires only proximal control for achieving formation. Our method efficiently achieves flocking in the absence of any explicit orientation information exchange (alignment control), and achieves flocking in a random direction without externally provided directional information. To implement proximal control, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions. Our approach may be used independently from any external positioning system such as GNSS or Motion Capture, and can therefore be used in GNSS-denied environments. The performance of the approach was tested in real-world conditions by experiments with UAVs that rely only on a relative visual localization system called UVDAR, proposed by our group. To evaluate the degree of alignment and cohesiveness, we used the order metric and the steady-state value.

Název v anglickém jazyce

Self-Organized UAV Flocking Based on Proximal Control

Popis výsledku anglicky

In this work, we address the problem of achieving cohesive and aligned flocking (collective motion) with a swarm of unmanned aerial vehicles (UAVs). We propose a method that requires only onboard sensing of the relative range and bearing of neighboring UAVs, and therefore requires only proximal control for achieving formation. Our method efficiently achieves flocking in the absence of any explicit orientation information exchange (alignment control), and achieves flocking in a random direction without externally provided directional information. To implement proximal control, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions. Our approach may be used independently from any external positioning system such as GNSS or Motion Capture, and can therefore be used in GNSS-denied environments. The performance of the approach was tested in real-world conditions by experiments with UAVs that rely only on a relative visual localization system called UVDAR, proposed by our group. To evaluate the degree of alignment and cohesiveness, we used the order metric and the steady-state value.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-0-7381-3115-3

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

9

Strana od-do

1374-1382

Název nakladatele

IEEE Xplore

Místo vydání

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Místo konání akce

Athens

Datum konání akce

15. 6. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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