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Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning [article]

Ramzi Ourari, Kai Cui, Ahmed Elshamanhory, Heinz Koeppl
2022 arXiv   pre-print
In particular, decentralized approaches may be the key to enabling robust drone swarm solutions in cases where centralized communication becomes computationally prohibitive.  ...  quadrotors in conjunction with a standard PID controller.  ...  The authors acknowledge the Lichtenberg high performance computing cluster of the TU Darmstadt for providing computational facilities for the calculations of this research.  ... 
arXiv:2104.14912v3 fatcat:l532tvd2izgwfp3mpa6oilloo4

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation [article]

Ahalya Prabhakar, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
2020 arXiv   pre-print
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes.  ...  We validate our approach in a virtual reality simulation environment and in real-world experiments at the DARPA OFFSET Urban Swarm Challenge FX3 field tests with a robotic swarm where user-based control  ...  We develop a decentralized ergodic formulation for swarm control for high-level tasks that can dynamically adapt to the demands of a user controlling the swarm and external task priorities from environmental  ... 
arXiv:2006.06081v1 fatcat:rxf4mmszyna3ljyuqixtie3b6y

3, 2, 1, Drones Go! A Testbed to Take off UAV Swarm Intelligence for Distributed Sensing [article]

Chuhao Qin, Fethi Candan, Lyudmila S. Mihaylova, Evangelos Pournaras
2022 arXiv   pre-print
The applicability of a decentralized multi-agent collective learning algorithm (EPOS) for UAV swarm intelligence along with the assessment of power consumption measurements provide a proof-of-concept and  ...  Over this sensing map, a swarm of low-cost drones can fly allowing the study of a large spectrum of problems such as energy consumption, charging control, navigation and collision avoidance.  ...  In this simple and generic context, the proposed testbed allows the study of high Technology Readiness Level (TRL) solutions for a plethora of problems including: charging control of drones, collision  ... 
arXiv:2208.05914v1 fatcat:vqangqvrpjhofjid5wono2t7bi

SwarmHawk: Self-Sustaining Multi-Agent System for Landing on a Moving Platform through an Agent Supervision [article]

Ayush Gupta, Ekaterina Dorzhieva, Ahmed Baza, Mert Alper, Aleksey Fedoseev, Dzmitry Tsetserukou
2022 arXiv   pre-print
We propose a novel vision-based drone swarm docking system for robust landing on a moving platform when one of the agents lost its position signal.  ...  SwarmHawk can switch between two modes of operation, acting as a homogeneous swarm in case of global UAV localization or assigning leader drones to navigate its neighbors in case of a camera fault in one  ...  Visual odometry, used for onboard state estimation, allows to achieve decentralized swarm control. Weinstein et al.  ... 
arXiv:2206.08874v1 fatcat:uby22piaxjgghdhwmxlqveixxi

A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation [article]

Jeremy Shen, Erdong Xiao, Yuchen Liu, Chen Feng
2022 arXiv   pre-print
While its control is currently limited to a hand-crafted policy for basic locomotion tasks, such a multi-robot system could be potentially controlled via Deep Reinforcement Learning (DRL) for different  ...  However, the particle robot system presents a new set of challenges for DRL differing from existing swarm robotics systems: the low degrees of freedom of each robot and the increased necessity of coordination  ...  While traditional swarm robots, like drones, maintain a basic level of capabilities in each individual, a new class of swarm robots with simpler hardware has been proposed: the particle robot.  ... 
arXiv:2203.06464v1 fatcat:hyto64ijf5fr3f3njjwbddxu2a

SwarmLab: a Matlab Drone Swarm Simulator [article]

Enrica Soria, Fabrizio Schiano, Dario Floreano
2020 arXiv   pre-print
We showcase the functionalities of SwarmLab by comparing two state-of-the-art algorithms for the navigation of aerial swarms in cluttered environments, Olfati-Saber's and Vasarhelyi's.  ...  Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require  ...  ACKNOWLEDGMENTS We thank Andrea Giordano, Victor Delafontaine, Fabian Schilling, and Anthony De Bortoli for their valuable contribution.  ... 
arXiv:2005.02769v2 fatcat:loliusbedvazppulqirzlia3au

A Review of Counter-UAS Technologies for Cooperative Defensive Teams of Drones

Vittorio Ugo Castrillo, Angelo Manco, Domenico Pascarella, Gabriella Gigante
2022 Drones  
In order to provide the basis for implementing such a system, we present a review of the available technologies for sensing, mitigation and command and control systems that generally comprise a CUS, focusing  ...  For this purpose, the paper evaluates the concept of a multiplatform counter-UAS system (CUS), based mainly on a team of mini drones acting as a cooperative defensive system.  ...  Conflicts of Interest: The authors declare no conflict of interest. Drones 2022, 6, 65  ... 
doi:10.3390/drones6030065 fatcat:bpnk3izp5vf3zcvvoeg3kf5n34

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms [article]

Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Xinjie Yao, Guotao Meng, Shaojie Shen
2022 arXiv   pre-print
Omni-swarm, a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms, is proposed in this paper to address this research niche.  ...  Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic.  ...  To build a fully autonomous decentralized multi-robot system (multi-aerial-robot swarm, also known as an aerial swarm), a key problem is how to achieve relative state estimation in a decentralized fashion  ... 
arXiv:2103.04131v4 fatcat:ynivmhsg5zc6vptov6me5oplp4

A physicomimetics control framework for swarms of Autonomous Surface Vehicles

Charles Frey, Dimitri Zarzhitsky, William M. Spears, Diana F. Spears, Christer Karlsson, Brian Ramos, Jerry C. Hamann, Edith A. Widder
2008 OCEANS 2008  
Swarms built using a physicomimetics approach exhibit predictable behavior -an important benefit for extended duration deployments of autonomous ocean platforms.  ...  By using a decentralized control framework, we minimize energy consumption via short-range communication and self-contained on-board data processing, all without a specified leader.  ...  Multi-DRONE Simulation Engine The multi-DRONE simulator (MDS) is a comprehensive software tool that provides a configurable test environment for the bioluminescence plume-navigation problem (see Fig.  ... 
doi:10.1109/oceans.2008.5151855 fatcat:xjp3ypdr5vdb5n7gb7pjkumi3i

UAV Swarm Intelligence: Recent Advances and Future Trends

Yong-Kun Zhou, Bin Rao, Wei Wang
2020 IEEE Access  
In this paper, we present a comprehensive survey of UAV swarm intelligence from the hierarchical framework perspective. Firstly, we review the basics and advances of UAV swarm intelligent technology.  ...  Furthermore, the relationship between each level is explicitly illustrated, and the research trends of each layer are given.  ...  Grabe et al. put forward an end-to-end control framework for heterogenous drone clusters, and its high-level tasks are concentrated on the ground [23] .  ... 
doi:10.1109/access.2020.3028865 fatcat:bvru22a2jregnmzbpehefg7irm

APPLICATION OF UAV SWARM SEMI-AUTONOMOUS SYSTEM FOR THE LINEAR PHOTOGRAMMETRIC SURVEY

C. Singh, V. Mishra, H. Harshit, K. Jain, M. Mokros
2022 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The testing field for this study was a 13.3 ha linear area of Solani River in the Haridwar district of the state of Uttarakhand, India.  ...  As a result of technological advancements, the complexity of systems to unprecedented levels these disadvantages can be solved by UAV Swarm systems.  ...  A single multi-UAV flight was done for Solani Riverbed mapping were done in this study, with a swarm of three UAVs undertaking a high-level aerial mapping task.  ... 
doi:10.5194/isprs-archives-xliii-b1-2022-407-2022 fatcat:qytjdjcv4zfjrcwicv5fwbqjqa

USING RFID TECHNOLOGY AT OPERATING A DRONE SWARMS IN COMMUNICATION SYSTEM MODE

Serhii Kravchuk, Irina Kravchuk
2020 Information and Telecommunication Sciences  
The procedure for exchange of control commands in a swarm using RFID is described.  ...  The structural and functional methods of constructing a wireless network based on a drone swarm are investigated. Results.  ...  ); control mode via RFID channels; manual control mode for a swarm of drones; -joint work of RFID and wireless personal-level systems; -low cost.  ... 
doi:10.20535/2411-2976.22020.16-23 fatcat:qetjajheyrfj3dt66q4ps7chma

The Use of Swarms of Unmanned Aerial Vehicles in Mitigating Area Coverage Challenges of Forest-Fire-Extinguishing Activities: A Systematic Literature Review

Ihab L. Hussein Alsammak, Moamin A. Mahmoud, Hazleen Aris, Muhanad AlKilabi, Mohammed Najah Mahdi
2022 Forests  
The results identified several gaps in this field of study among them the complexity of coordination in multi-robotic systems, the lack of evaluation and implementation of fire extinguishing systems, the  ...  The use of Unmanned Aerial Vehicles (UAVs), colloquially known as drones, has grown rapidly over the past two decades and continues to expand at a rapid pace.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/f13050811 fatcat:dc6p4jrczfekpad43g6mjyfdfm

Comparison of Linear and Nonlinear Methods for Distributed Control of a Hierarchical Formation of UAVs

Anam Tahir, Jari Boling, Mohammad-Hashem Haghbayan, Juha Plosila
2020 IEEE Access  
As a solution for this, a multi-layered and distributed control system is proposed for the swarm of drones in the formation of hierarchical levels based on the leader-follower approach.  ...  To ensure the tracking performance and response time of the ensemble system, nonlinear and linear control designs are presented; (a) Sliding Mode Control connected with Proportional-Derivative controller  ...  Toivonen, Laboratory of Process and Systems Engineering, Åbo Akademi University, Turku, Finland, for discussions related to this article.  ... 
doi:10.1109/access.2020.2988773 fatcat:n7efptf5dvhulonvdi4pl2cg64

Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance [article]

Jacopo Panerati, Yanjun Cao , Giovanni Beltrame European Astronaut Centre
2019 arXiv   pre-print
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments.  ...  In this work, we present two major contributions: (i) we describe the full-stack implementation---from hardware to software---of a decentralized control law for robust connectivity maintenance; and (ii  ...  [4] introduced a decentralized control law based on a potential function of algebraic connectivity.  ... 
arXiv:1909.10378v1 fatcat:4getp3h325fizdiuwfoinaf5qe
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