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Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains

Vivek Shankar Varadharajan, David St-Onge, Bram Adams, Giovanni Beltrame
2020 IEEE Robotics and Automation Letters  
The fully decentralized algorithm is robust to robot failures, can heal broken communication links, and exploits heterogeneous swarms: when a target is unreachable by ground robots, the chain is extended  ...  In this paper we propose a novel lightweight algorithm that lets a heterogeneous group of robots navigate to a target in complex 3D environments while maintaining connectivity with a ground station by  ...  To maintain connectivity, we propose to progressively use the available robots of a swarm to form a self-healing communication chain from a ground station to a target (illustrated in Fig. 1 ).  ... 
doi:10.1109/lra.2020.3006793 fatcat:6oulqmmsirb6vjh676fpy6q3q4

Self-Healing Ground-and-Air Connectivity Chains [article]

Vivek Shankar Varadharajan, David St-Onge, Bram Adams, Giovanni Beltrame
2019 arXiv   pre-print
The algorithm is robust to single robot failures and can heal broken communication links.  ...  The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication.  ...  We would like to thank Compute Canada for providing us 2 with access to their servers, simulation experiments were performed on Cedar and Graham servers.  ... 
arXiv:1909.10496v1 fatcat:7vja73qugjbcpjljnc3tefvqjm

Swarm Robotic Behaviors and Current Applications

Melanie Schranz, Martina Umlauft, Micha Sende, Wilfried Elmenreich
2020 Frontiers in Robotics and AI  
Many industrial projects still rely on centralized control, and even though a solution with multiple robots is employed, the principal idea of swarm robotics of distributed decision making is neglected  ...  In swarm robotics multiple robots collectively solve problems by forming advantageous structures and behaviors similar to the ones observed in natural systems, such as swarms of bees, birds, or fish.  ...  ACKNOWLEDGMENTS We thank Arthur Pitman and Andreas Kercek for proofreading the text.  ... 
doi:10.3389/frobt.2020.00036 pmid:33501204 pmcid:PMC7805972 doaj:b6b5ca0ab5e74460ba9da0c68be2998b fatcat:jhagkabpevccfpfsrtdbozq6wy

Planning the future of smart cities with swarms of fully autonomous unmanned aerial vehicles using a novel framework

Kaya Kuru
2021 IEEE Access  
FAUAVs with self-learning and self-decision-making abilities by executing non-trivial sequences of events with decimetre-level accuracy based on a set of rules, control loops and constraints using dynamic  ...  The framework consists of a decentralized agent-based control architecture that monitors and controls the swarms of resource-constraint FAUAVs for their real-time requirements in optimising their urban  ...  While FAUAVs as an efficient mode of fulfilling various tasks with the abilities of self-configure, self-operate and self-heal are taking their places in city aerial routes, today, and every day, worldwide  ... 
doi:10.1109/access.2020.3049094 fatcat:3ikesnditrf4pnkoocjshu44he

A Survey on Millimeter-Wave Beamforming Enabled UAV Communications and Networking [article]

Zhenyu Xiao, Lipeng Zhu, Yanming Liu, Pengfei Yi, Rui Zhang, Xiang-Gen Xia, Robert Schober
2021 arXiv   pre-print
Subsequently, the technologies and solutions for UAV-connected mmWave cellular networks and mmWave-UAV ad hoc networks are reviewed, respectively.  ...  On the other hand, UAVs serving as aerial access points or relays can significantly enhance the coverage and quality of service of the terrestrial mmWave cellular networks.  ...  Due to the characteristics of high autonomy, flexibility, and self-healing, FANETs have broad applications in the military and civil domains [276] .  ... 
arXiv:2104.09204v2 fatcat:rbywt5p7uzhhzg3hbc7tnln45q

Table of contents

2021 2021 International Conference on Power System Technology (POWERCON)  
and Application of the Scheme of Relay Protection and Self-healing for Distribution Network Based on and economy in the new power system 2.1 Electricity price theory and transmission and distribution  ...  •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 0401 PowerCon 2021CP0352 voltage distribution of small hydropower connected to main  ...  Based on Multi-objective Particle Swarm Optimization Comprehensive Evaluation and Improvement of Power Quality in Distribution Networks Based on DEA Model and Membership Function Study the adaptability  ... 
doi:10.1109/powercon53785.2021.9697405 fatcat:ssuov6syuzeojjgzalbmkozecq

Survey on 6G Frontiers: Trends, Applications, Requirements, Technologies and Future Research

Chamitha de Alwis, Anshuman Kalla, Quoc-Viet Pham, Pardeep Kumar, Kapal Dev, Won-Joo Hwang, Madhusanka Liyanage
2021 IEEE Open Journal of the Communications Society  
of Vehicles (IoV) [120] [121] , Vehicular Ad-hoc NETworks (VANETs), air-to-ground networks, and space-air-ground interconnected networks [122] .  ...  , self-optimization, self-healing, self-monitoring, and self-scaling capabilities. • Offers to transform future 6G networks fully automated and economical with utilization of powerful AI/ML techniques.  ... 
doi:10.1109/ojcoms.2021.3071496 fatcat:lpu2cwh6xfebjpbt56svuwxoti

Evolution of Non-Terrestrial Networks From 5G to 6G: A Survey [article]

M. Mahdi Azari, Sourabh Solanki, Symeon Chatzinotas, Oltjon Kodheli, Hazem Sallouha, Achiel Colpaert, Jesus Fabian Mendoza Montoya, Sofie Pollin, Alireza Haqiqatnejad, Arsham Mostaani, Eva Lagunas, Bjorn Ottersten
2022 arXiv   pre-print
Moreover, we review the corresponding challenges arising from the technical peculiarities and the new approaches being adopted to develop efficient integrated ground-air-space (GAS) networks.  ...  We discuss important features of NTNs integration into TNs and the synergies by delving into the new range of services and use cases, various architectures, technological enablers, and higher layer aspects  ...  Zhou et al. in [104] , evaluated beam management and network self-healing in UAV mesh networks.  ... 
arXiv:2107.06881v2 fatcat:ap7uchcpqzbchohcn3pnrlubzm

Table of Contents

2020 IEEE Robotics and Automation Letters  
(Contents Continued from Page i) Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Righetti 6129 Coordinated Appendages Accumulate More Energy to Self-Right on the Ground . . . . . . . . . . . . . . . . . . . Q. Xuan and C.  ... 
doi:10.1109/lra.2020.3030731 fatcat:kwx4xyitfbfuzgugbi5vavx2xu

A Vision and Framework for the High Altitude Platform Station (HAPS) Networks of the Future [article]

Gunes Kurt, Mohammad G. Khoshkholgh, Safwan Alfattani, Ahmed Ibrahim, Tasneem S. J. Darwish, Md Sahabul Alam, Halim Yanikomeroglu, Abbas Yongacoglu
2021 arXiv   pre-print
The latest advancements and promising technologies in the HAPS energy and payload systems are discussed.  ...  In this article, we provide a vision and framework for the HAPS networks of the future supported by a comprehensive and state-of-the-art literature review.  ...  In conventional selforganizing networks, self-configuration and optimization as well as self-healing capabilities are among the basic functionalities.  ... 
arXiv:2007.15088v4 fatcat:6wcy7ndiebee3a3zvh7dymv6oq

What is a Swarm? A Framework for Understanding Swarms and their Applications

Zhong Thai
other problems in understanding swarms, and 3) outline swarm applications specific to aircraft and spacecraft based swarms.  ...  This study addresses these questions by creating a unified approach for understanding and analyzing swarms, called the Swarm Analysis Framework.  ...  Scharre provides suitable swarm tasks like coordinated attack and defense, dynamic self-healing networks, distributed sensing and attack, deception, and swarm intelligence [21] .  ... 
doi:10.25394/pgs.12746807 fatcat:djnvto667vddzm3mk6fguzz2rq

Satellite Communications in the New Space Era: A Survey and Future Challenges [article]

O. Kodheli, E. Lagunas, N. Maturo, S. K. Sharma, B. Shankar, J. F. Mendoza Montoya, J. C. Merlano Duncan, D. Spano, S. Chatzinotas, S. Kisseleff, J. Querol, L. Lei (+2 others)
2020 arXiv   pre-print
Subsequently, an in-depth literature review is provided across five axes: i) system aspects, ii) air interface, iii) medium access, iv) networking, v) testbeds & prototyping.  ...  Satellite communications have recently entered a period of renewed interest motivated by technological advances and nurtured through private investment and ventures.  ...  remaining useful life, and to activate self-healing mechanisms whenever needed.  ... 
arXiv:2002.08811v2 fatcat:u3uvhm5bovg6povxbwwl5h6rqq

The Shift to 6G Communications: Vision and Requirements [article]

Muhammad Waseem Akhtar, Syed Ali Hassan, Rizwan Ghaffar, Haejoon Jung, Sahil Garg, M. Shamim Hossain
2020 arXiv   pre-print
In this article, we provide a detailed overview of the 6G network dimensions with air interface and associated potential technologies.  ...  The sixth-generation (6G) wireless communication network is expected to integrate the terrestrial, aerial, and maritime communications into a robust network which would be more reliable, fast, and can  ...  AI and ML will play an important role in the self-organization, self-healing, selfconfiguration of 6G wireless systems.  ... 
arXiv:2010.07993v1 fatcat:u4g5vyhor5amtltrkx5olvhq6e

The shift to 6G communications: vision and requirements

Muhammad Waseem Akhtar, Syed Ali Hassan, Rizwan Ghaffar, Haejoon Jung, Sahil Garg, M. Shamim Hossain
2020 Human-Centric Computing and Information Sciences  
In this article, we provide a detailed overview of the 6G network dimensions with air interface and associated potential technologies.  ...  and can support a massive number of devices with ultra-low latency requirements.  ...  AI and ML will play an important role in the self-organization, self-healing, self-configuration of 6G wireless systems.  ... 
doi:10.1186/s13673-020-00258-2 fatcat:ibwxzee35fc7xmx4bwzj46xfzy

Bio-Inspired Robots and Structures toward Fostering the Modernization of Agriculture

Maria Kondoyanni, Dimitrios Loukatos, Chrysanthos Maraveas, Christos Drosos, Konstantinos G. Arvanitis
2022 Biomimetics  
In brief, soft robots and swarm robotics have immense potential in agriculture.  ...  This review article focused on biomimetic innovations, including bio-inspired soft robots and swarm robots that could serve multiple functions, including the harvesting of fruits, pest control, and crop  ...  Acknowledgments: The authors would like to thank the personnel of the Dept. of Natural Resources Management and Agricultural Engineering of the Agricultural University of Athens, Greece, for their technical  ... 
doi:10.3390/biomimetics7020069 pmid:35735585 pmcid:PMC9220914 fatcat:cmprpzsupzeopo3iy5kpoeu2ne
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