Download or read book Cooperative Path Planning and Cooperative Perception for UAVs Swarm written by M. A. Shah and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research Pythagorean Hodograph based path planning and camera based cooperative perception are investigated separately and then these two entirely separate areas (Path Planning and Perception) are integrated for the application in online pop-up obstacle locating & avoidance and moving target tracking & surveillance in dynamic environments. The path planning is integrated with the cooperative perception to deal with the challenges posed by the dynamic environment. The aim of this integration is to achieve maximum autonomy required to execute a mission autonomously by multiple fixed wings UAVs in a dynamic environment. During the mission execution, the cooperating UAVs start from some initial location in the operating environment and finish at some final location while trying to achieve the mission's objectives in a cooperative way. Naturally planning a feasible (safe and flyable) path for each participating UAV from initial position to a final location becomes a compulsory task of mission planning. For fixed wing UAVs flyable paths mean, paths which have tangential and curvature continuity and which obey the kinematic and dynamic constraint of the UAVs. In this research an algorithm based on Pythagorean hodograph curves is developed and used for planning feasible (safe and flyable) paths. The Pythagorean hodograph (PH) yields paths of exact length having tangential and curvature continuity. These continuous paths are made flyable for the UAVs by imposing the kinematic constraints of the UAVs. These constraints are imposed by the curvature and torsion manipulation of the planned paths. The safety of these paths is ensured by making it free of inter collisions between the vehicles and collisions with the known obstacles. These feasible paths are known as the initial paths or reference trajectories. In this research the operating environment is assumed to be dynamic in which changes are taking place at all times. Each UAV taking part in the mission is equipped with a vision sensor to perceive these changes continuously in a cooperative way. As the mission is assumed to be executed in day light, therefore light intensity video camera is used as a vision sensor. A perception algorithm for locating an object cooperatively in 3D is developed in this research. This algorithm is based on the optimization of errors in target position acquired by the on board camera. The algorithm is used by the cooperative perception system for optimal position estimation of the object in the scene. The target position information between the participating UAVs is exchanged through wireless communication for data fusion purposes. After developing efficient algorithms for path planning and cooperative perception, the two algorithms are integrated to be used in reactive obstacle avoidance and target tracking. During the mission, when the UAVs start their flight on the reference trajectories generated by the path planning algorithm, the perception algorithm comes into action. During the travel on these paths if the perception system of any of the UAVs detects an interrupting obstacle which was not known a priori in the map, then the exact location of this obstacle is determined with the help of the perception algorithm in a cooperative way. Using the location of the interrupting obstacle determined by the perception algorithm the path planning algorithm plans an evasive manoeuvre for the corresponding UAV to avoid it. After avoiding the obstacle the UAV comes back to its reference trajectory as soon as possible. In the operation of surveillance and tracking during the mission, the onboard perception algorithm locates an object of interest dynamically and the Pythagorean hodograph (PH) path planner uses this location to generate the paths for the cooperating UAVs to keep in close proximity of the target. In this case the close proximity of the target means to follow the moving target in such a way that it remains in the fields of views of the UAVs cameras at any time. By this integration of path planning and cooperative perception the continuous surveillance and tracking of the target was made possible even when the individual UAV experiences failure. During this research the mid flight obstacle locating & avoidance, and target surveillance & tracking have been successfully achieved by the integration of the path planning and cooperative perception. The purpose of this integration is to achieve an enhanced autonomy for the cooperating group of UAVs to increase the probability of their survival in mission being executed in dynamic environments.

Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by Progress in Astronautics and A. This book was released on 2011 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.Include chapters on path planning, 3-D path planning, cooperative path planning, path planning in complex environments as well as guidance for accurate path following and sense and avoid algorithms to deal with collision avoidanceApproaches the solution to UAV path planning via two phases: producing paths to meet curvature constraints - the flyable paths, and then tuning the flyable paths to meet the mission demandsDescribes flyable path approaches using composite curves using Dubins and Clothoid principles, and continuous curves using Pythagorean Hodograph principles; and extends these approaches to cater for the complex problem of obstacle avoidance.?

Download or read book Multi UAV Path Planning and Guidance for Cooperative Hunting in a Cluttered Environment written by Joshua Savio Furtado and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a path planning and guidance algorithm for cooperative hunting by a group of multi-rotor Unmanned Aerial Vehicles (UAVs). A group of intelligent UAVs called pursuers work together to capture a single evader. The target is known to be within a certain region called the target zone. Particle Swarm Optimization is used to generate near-optimal safe paths for the pursuers to get from their base location to the target zone in the presence of static obstacles. Once the pursuers reach the target zone, Proportional Navigation guidance law is used in conjunction with the Potential Field algorithm and Rendezvous Law to simultaneously encircle the target. Previous work done in the cooperative hunting problem does not address the important aspect of rendezvous. Simulations as well as experimental results are shown to demonstrate the feasibility and effectiveness of this work after testing in different scenarios.

Download or read book Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control written by Zhang Ren and published by Springer Nature. This book was released on 2022-07-29 with total page 1902 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.

Download or read book Cooperative search for moving targets with the ability to perceive and evade using multiple UAVs written by Ziyi Wang and published by OAE Publishing Inc.. This book was released on 2023-10-28 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper focuses on the problem of regional cooperative search using multiple unmanned aerial vehicles (UAVs) for targets that have the ability to perceive and evade. When UAVs search for moving targets in a mission area, the targets can perceive the positions and flight direction of UAVs within certain limits and take corresponding evasive actions, which makes the search more challenging than traditional search problems. To address this problem, we first define a detailed motion model for such targets and design various search information maps and their update methods to describe the environmental information based on the prediction of moving targets and the search results of UAVs. We then establish a multi-UAV search path planning optimization model based on the model predictive control, which includes various newly designed objective functions of search benefits and costs. We propose a priority-encoded improved genetic algorithm with a fine-adjustment mechanism to solve this model. The simulation results show that the proposed method can effectively improve the cooperative search efficiency, and more targets can be found at a much faster rate compared to traditional search methods.

Download or read book UAV Cooperative Decision and Control written by Tal Shima and published by SIAM. This book was released on 2009-01-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are increasingly used in military missions because they have the advantages of not placing human life at risk and of lowering operation costs via decreased vehicle weight. These benefits can be fully realized only if UAVs work cooperatively in groups with an efficient exchange of information. This book provides an authoritative reference on cooperative decision and control of UAVs and the means available to solve problems involving them.

Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Xiaoduo Li and published by Springer Nature. This book was released on with total page 714 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Jianglong Yu and published by Springer Nature. This book was released on with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Coordination of UAV Swarm Systems written by Xiwang Dong and published by Mdpi AG. This book was released on 2023-09-19 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The reprint delves into the fascinating world of unmanned aerial vehicle (UAV) swarm systems and their intelligent coordination. This comprehensive collection of research papers explores advancements in UAV swarm systems, such as intelligent perception and cognition, swarm navigation and localization, autonomous decision and planning, cooperative guidance and control, and swarm intelligence. UAV swarm systems have gained significant attention in recent years due to their potential for revolutionizing various domains, including surveillance, search and rescue, environmental monitoring, and disaster response. Intelligent perception and cognition play a crucial role in enabling UAV swarm systems to perceive and understand their environment. Swarm navigation and localization techniques ensure precise positioning and effective movement coordination within the swarm. Autonomous decision and planning algorithms empower UAV swarm systems to make intelligent choices in real-time. Cooperative guidance and control strategies facilitate seamless collaboration among individual UAVs within the swarm. Swarm intelligence, inspired by the collective behavior of social insects, offers valuable insights into designing robust and scalable UAV swarm systems.

Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Guo-Ping Jiang and published by Springer Nature. This book was released on with total page 674 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Over 40 Publications Studies Combined UAS UAV Drone Swarm Technology Research written by and published by Jeffrey Frank Jones. This book was released on with total page 3840 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over 3,800 total pages ... Just a sample of the studies / publications included: Drone Swarms Terrorist and Insurgent Unmanned Aerial Vehicles: Use, Potentials, and Military Implications Countering A2/AD with Swarming Stunning Swarms: An Airpower Alternative to Collateral Damage Ideal Directed-Energy System To Defeat Small Unmanned Aircraft System Swarms Break the Kill Chain, not the Budget: How to Avoid U.S. Strategic Retrenchment Gyges Effect: An Ethical Critique of Lethal Remotely Piloted Aircraft Human Robotic Swarm Interaction Using an Artificial Physics Approach Swarming UAS II Swarming Unmanned Aircraft Systems Communication Free Robot Swarming UAV Swarm Attack: Protection System Alternatives for Destroyers Confidential and Authenticated Communications in a Large Fixed-Wing UAV Swarm UAV Swarm Behavior Modeling for Early Exposure of Failure Modes Optimized Landing of Autonomous Unmanned Aerial Vehicle Swarms Mini, Micro, and Swarming Unmanned Aerial Vehicles: A Baseline Study UAV Swarm Operational Risk Assessment System SmartSwarms: Distributed UAVs that Think Command and Control Autonomous UxV's UAV Swarm Tactics: An Agent-Based Simulation and Markov Process Analysis A Novel Communications Protocol Using Geographic Routing for Swarming UAVs Performing a Search Mission Accelerating the Kill Chain via Future Unmanned Aircraft Evolution of Control Programs for a Swarm of Autonomous Unmanned Aerial Vehicles AFIT UAV Swarm Mission Planning and Simulation System A Genetic Algorithm for UAV Routing Integrated with a Parallel Swarm Simulation Applying Cooperative Localization to Swarm UAVS Using an Extended Kalman Filter A Secure Group Communication Architecture for a Swarm of Autonomous Unmanned Aerial Vehicles Braving the Swarm: Lowering Anticipated Group Bias in Integrated Fire/Police Units Facing Paramilitary Terrorism Distributed Beamforming in a Swarm UAV Network Integrating UAS Flocking Operations with Formation Drag Reduction Tracking with a Cooperatively Controlled Swarm of GMTI Equipped UAVS Using Agent-Based Modeling to Evaluate UAS Behaviors in a Target-Rich Environment Experimental Analysis of Integration of Tactical Unmanned Aerial Vehicles and Naval Special Warfare Operations Forces Target Acquisition Involving Multiple Unmanned Air Vehicles: Interfaces for Small Unmanned Air Systems (ISUS) Program Tools for the Conceptual Design and Engineering Analysis of Micro Air Vehicles Architectural Considerations for Single Operator Management of Multiple Unmanned Aerial Vehicles

Download or read book UAV Swarm Cooperative Control Based on a Genetic fuzzy Approach written by Nicholas D. Ernest and published by . This book was released on 2012 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ever-increasing applications of UAV's have shown the great capabilities of these technologies. However, for many cases where one UAV is a powerful tool, an autonomous swarm all working cooperatively to the same goal presents amazing potential. Environment that are dangerous for humans, are either too small or too large for safe or reasonable exploration, and even those tasks that are simply boring or unpleasant are excellent areas for UAV swarm applications. In order to work cooperatively, the swarm must allocate tasks and have adequate path planning capability. This paper presents a methodology for two-dimensional target allocation and path planning of a UAV swarm using a hybridization of control techniques. Genetic algorithms, fuzzy logic, and to an extent, dynamic programming are utilized in this research to develop a code known as "UNCLE SCROOGE" (UNburdening through CLustering Effectively and Self-CROssover GEnetic algorithm). While initially examining the Traveling Salesman Problem, where an agent must visit each waypoint in a set once and then return home in the most efficient path, the work's end goal was a variant on this problem that more closely resembled the issues a UAV swarm would encounter. As an extension to Dr. Obenmeyer's "Polygon-Visiting Dubins Traveling Salesman Problem", the Multi-Depot Polygon-Visiting Dubins Multiple Traveling Salesman Problem consists of a set number of visibility areas, or polygons that a number of UAV's, based in different or similar depot must visit. While this case is constant altitude and constant velocity, minimum turning radii are considered through the use of Dubins curves. UNCLE SCROOGE was found to be adaptable to the PVDTSP, where it competed well against the methods proposed by Obenmeyer. Due to limited benchmarking ability, as these are newly formed problems, Obenmeyer's work served as the only basis for comparison for the PVDTSP. UNCLE SCROOGE brought a 9.8% increase in accuracy, and a run-time reduction of more than a factor of ten for a 20 polygonal case with strict turning requirements. This increase in performance came with a 99% certainty of receiving the best found solution over the course of 100 runs. With only a 1% chance for error in this particular case, the hybridized method has been shown to be quite powerful. While no comparison is currently possible for MDPVDMTSP solutions, UNCLE SCROOGE was found to develop promising results. On average, it takes the code 25.62 seconds to approximately solve a 200 polygon, 4 depot, 5 UAV's per depot problem. This polygon count was increased even up to 2,500, with a solution taking 9.8 hours. It has been shown that UNCLE SCROOGE performs well in solving the MDPVDMTSP and has acceptable scalability.

Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Yongzhao Hua and published by Springer Nature. This book was released on with total page 710 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Flying Ad Hoc Networks written by Jingjing Wang and published by Springer Nature. This book was released on 2022-02-10 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: Relying on unmanned autonomous flight control programs, unmanned aerial vehicles (UAVs) equipped with radio communication devices have been actively developed around the world. Given their low cost, flexible maneuvering and unmanned operation, UAVs have been widely used in both civilian operations and military missions, including environmental monitoring, emergency communications, express distribution, even military surveillance and attacks, for example. Given that a range of standards and protocols used in terrestrial wireless networks are not applicable to UAV networks, and that some practical constraints such as battery power and no-fly zone hinder the maneuverability capability of a single UAV, we need to explore advanced communication and networking theories and methods for the sake of supporting future ultra-reliable and low-latency applications. Typically, the full potential of UAV network’s functionalities can be tapped with the aid of the cooperation of multiple drones relying on their ad hoc networking, in-network communications and coordinated control. Furthermore, some swarm intelligence models and algorithms conceived for dynamic negotiation, path programming, formation flight and task assignment of multiple cooperative drones are also beneficial in terms of extending UAV’s functionalities and coverage, as well as of increasing their efficiency. We call the networking and cooperation of multiple drones as the terminology ‘flying ad hoc network (FANET)’, and there indeed are numerous new challenges to be overcome before the idespread of so-called heterogeneous FANETs. In this book, we examine a range of technical issues in FANETs, from physical-layer channel modeling to MAC-layer resource allocation, while also introducing readers to UAV aided mobile edge computing techniques.

Download or read book Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control written by Qing Wang and published by Springer Nature. This book was released on with total page 725 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Cooperative Search by Uninhabited Air Vehicles in Dynamic Environment written by Yanli Yang and published by . This book was released on 2005 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of networked multi-vehicle systems designed to perform complex coordinated tasks is currently an important and challenging field of research. This dissertation addresses a cooperative search problem where a team of Unmanned Air Vehicles (UAVs) seek to find targets of interest in an uncertain and adversary environment. We present a practical framework for on-line planning and control of a group of UAVs to do the cooperative search, which is based on two inter-dependent tasks: (i) using "cognitive maps" as the environment representation and incrementally learning it through new sensor readings; and (ii) based on the obtained information, planning a guidance path for the vehicle to follow. This dissertation investigates both the cognitive map building problem and the cooperative path planning problem. We present two evidential methods to incrementally build cognitive maps for directing UAVs to perform cooperative search tasks, where the sensor reading is represented probabilistically and is fused into the maps using evidential rules. By utilizing the generated cognitive maps, a finite horizon optimal control problem is formulated to generate physical feasible paths for the vehicles to follow, where certain constraints on arial vehicles including physical maneuverability, fuel consumption, etc, are considered and the dynamic nature of the environment is taken into account. The emergent coordination among UAVs is enabled by letting each UAV to consider other vehicles' actions into its path planning decision process. The effectiveness of the proposed multi-vehicle cooperative search scheme is illustrated via simulations in various dynamic, uncertainty, and risky environment.

Download or read book Intelligent Autonomy of UAVs written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2018-03-14 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Autonomy of UAVs: Advanced Missions and Future Use provides an approach to the formulation of the fundamental task typical to any mission and provides guidelines of how this task can be solved by different generic robotic problems. As such, this book aims to provide a systems engineering approach to UAV projects, discovering the real problems that need to be resolved independently of the application. After an introduction to the rapidly evolving field of aerial robotics, the book presents topics such as autonomy, mission analysis, human-UAV teams, homogeneous and heterogeneous UAV teams, and finally, UAV-UGV teams. It then covers generic robotic problems such as orienteering and coverage. The book next introduces deployment, patrolling, and foraging, while the last part of the book tackles an important application: aerial search, tracking, and surveillance. This book is meant for both scientists and practitioners. For practitioners, it presents existing solutions that are categorized according to various missions: surveillance and reconnaissance, 3D mapping, urban monitoring, precision agriculture, forestry, disaster assessment and monitoring, security, industrial plant inspection, etc. For scientists, it provides an overview of generic robotic problems such as coverage and orienteering; deployment, patrolling and foraging; search, tracking, and surveillance. The design and analysis of algorithms raise a unique combination of questions from many fields, including robotics, operational research, control theory, and computer science.