Reference : Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobi...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
Engineering, computing & technology : Computer science
Security, Reliability and Trust; Computational Sciences
http://hdl.handle.net/10993/31476
Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
English
Rosalie, Martin mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Dentler, Jan Eric mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Danoy, Grégoire mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC) >]
Bouvry, Pascal mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC) >]
Kannan, Somasundar mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
27-Jul-2017
2017 International Conference on Unmanned Aircraft Systems (ICUAS)
1392-1397
Yes
No
International
978-1-5090-4495-5
International Conference on Unmanned Aircraft Systems (ICUAS)
from 13-06-2017 to 16-06-2017
Miami
FL, USA
[en] swarm of UAVs ; control ; Ant Colony Optimization
[en] The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility model as waypoints for real UAVs. A control model of the UAVs is deployed to test the efficiency of the coverage of an area by the swarm. We have tested our approach in a realistic robotics simulator (V-Rep) which is connected with ROS. We compare the performance in terms of coverage using several metrics to ensure that this mobility model is efficient for real UAVs.
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group ; University of Luxembourg: High Performance Computing - ULHPC
Fonds National de la Recherche - FnR
http://hdl.handle.net/10993/31476
10.1109/ICUAS.2017.7991418
http://ieeexplore.ieee.org/document/7991418/

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