On Rapid Parallel Tuning of Controllers of a Swarm of MAVs -- Distribution Strategies of the Updated Gains

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

On Rapid Parallel Tuning of Controllers of a Swarm of MAVs -- Distribution Strategies of the Updated Gains

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

On Rapid Parallel Tuning of Controllers of a Swarm of MAVs -- Distribution Strategies of the Updated Gains

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

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

2024

Kód důvěrnosti údajů

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

Název statě ve sborníku

2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)

ISBN

979-8-3315-1849-3

ISSN

2474-2953

e-ISSN

2474-963X

Počet stran výsledku

7

Strana od-do

1182-1188

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

New York

Místo konání akce

Dubai

Datum konání akce

12. 12. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001435120000189