Results 1-13 of 13.
((uid:50022140))

Bookmark and Share    
Full Text
Peer Reviewed
See detailCollision Avoidance Effects on the Mobility of a UAV Swarm Using Chaotic Ant Colony with Model Predictive Control
Dentler, Jan Eric UL; Rosalie, Martin UL; Danoy, Grégoire UL et al

in Journal of Intelligent \& Robotic Systems (2018)

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a ... [more ▼]

The recent development of compact and economic small Unmanned Aerial Vehicles (UAVs) permits the development of new UAV swarm applications. In order to enhance the area coverage of such UAV swarms, a novel mobility model has been presented in previous work, combining an Ant Colony algorithm with chaotic dynamics (CACOC). This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to compute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its performance is analyzed using metrics. [less ▲]

Detailed reference viewed: 26 (4 UL)
Full Text
Peer Reviewed
See detailBayesian optimization to enhance coverage performance of a swarm of UAV with chaotic dynamics
Kieffer, Emmanuel UL; Rosalie, Martin UL; Danoy, Grégoire UL et al

Scientific Conference (2018, February 26)

We introduce the optimization of CACOC through Bayesian Optimization. CACOC is based on a chaotic system, i.e. Rossler system whose behavior can be modified by tuning the α parameter. In order to evaluate ... [more ▼]

We introduce the optimization of CACOC through Bayesian Optimization. CACOC is based on a chaotic system, i.e. Rossler system whose behavior can be modified by tuning the α parameter. In order to evaluate the performance of CACOC for different value of α, the coverage metric has to be evaluated after simulation. The latter is time-consuming. Therefore, a surrogate-based optimization, i.e. Bayesian Optimization has been privilegied to tackle this issue. An analysis of the chaotic system with the obtained α value has been performed to compare the periodic orbits and their associated patterns. Numerical results show that the best α value avoid a waste of time in periodic region of the bifurcation diagram. Future works will focus on more complex chaotic system as well as new application domain of the optimized CACOC approach. [less ▲]

Detailed reference viewed: 32 (8 UL)
Full Text
Peer Reviewed
See detailChaos-enhanced mobility models for multilevel swarms of UAVs
Rosalie, Martin UL; Danoy, Grégoire UL; Chaumette, Serge et al

in Swarm and Evolutionary Computation (2018)

The number of civilian and military applications using Unmanned Aerial Vehicles (UAVs) has increased during the last years and the forecasts for upcoming years are exponential. One of the current major ... [more ▼]

The number of civilian and military applications using Unmanned Aerial Vehicles (UAVs) has increased during the last years and the forecasts for upcoming years are exponential. One of the current major challenges consist in considering UAVs as autonomous swarms to address some limitations of single UAV usage such as autonomy, range of operation and resilience. In this article we propose novel mobility models for multi-level swarms of collaborating UAVs used for the coverage of a given area. These mobility models generate unpredictable trajectories using a chaotic solution of a dynamical system. We detail how the chaotic properties are used to structure the exploration of an unknown area and enhance the exploration part of an Ant Colony Optimization method. Empirical evidence of the improvement of the coverage efficiency obtained by our mobility models is provided via simulation. It clearly outperforms state-of-the-art approaches. [less ▲]

Detailed reference viewed: 31 (3 UL)
Full Text
Peer Reviewed
See detailChaotic Traversal (CHAT): Very Large Graphs Traversal Using Chaotic Dynamics
Changaival, Boonyarit UL; Rosalie, Martin UL; Danoy, Grégoire UL et al

in International Journal of Bifurcation and Chaos (2017), 27(14), 1750215

Graph Traversal algorithms can find their applications in various fields such as routing problems, natural language processing or even database querying. The exploration can be considered as a first ... [more ▼]

Graph Traversal algorithms can find their applications in various fields such as routing problems, natural language processing or even database querying. The exploration can be considered as a first stepping stone into knowledge extraction from the graph which is now a popular topic. Classical solutions such as Breadth First Search (BFS) and Depth First Search (DFS) require huge amounts of memory for exploring very large graphs. In this research, we present a novel memoryless graph traversal algorithm, Chaotic Traversal (CHAT) which integrates chaotic dynamics to traverse large unknown graphs via the Lozi map and the Rössler system. To compare various dynamics effects on our algorithm, we present an original way to perform the exploration of a parameter space using a bifurcation diagram with respect to the topological structure of attractors. The resulting algorithm is an efficient and nonresource demanding algorithm, and is therefore very suitable for partial traversal of very large and/or unknown environment graphs. CHAT performance using Lozi map is proven superior than the, commonly known, Random Walk, in terms of number of nodes visited (coverage percentage) and computation time where the environment is unknown and memory usage is restricted. [less ▲]

Detailed reference viewed: 24 (1 UL)
Full Text
Peer Reviewed
See detailCoverage optimization with connectivity preservation for UAV swarms applying chaotic dynamics
Rosalie, Martin UL; Brust, Matthias UL; Danoy, Grégoire UL et al

in IEEE International Conference on Autonomic Computing (ICAC), Columbus 17-21 July 2017 (2017, August 11)

Cooperative usage of multiple UAVs as a swarm can deliver high-quality surveillance performance. However, the communication capabilities within the UAV swarm must be maintained for local data propagation ... [more ▼]

Cooperative usage of multiple UAVs as a swarm can deliver high-quality surveillance performance. However, the communication capabilities within the UAV swarm must be maintained for local data propagation to swarm members in favor of achieving an efficient global behavior. In this paper, we address the problem of optimizing two adversary criteria for such a UAV swarm: (a) maximizing the area coverage, while (b) preserving network connectivity. Our approach, called CACOC², solves the problem with a novel chaotic ant colony optimization approach, which combines an Ant Colony Optimization approach (ACO) with a chaotic dynamical system. CACOC² employs swarming behavior to obtain UAV clustering that result in maximized area coverage and preserved network connectivity. We show by extensive simulations how the size of the UAV swarm influences the coverage and connectivity. A metrics comparison chart shows the correlation of coverage and connectivity metrics. [less ▲]

Detailed reference viewed: 48 (6 UL)
Full Text
Peer Reviewed
See detailArea exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Rosalie, Martin UL; Dentler, Jan Eric UL; Danoy, Grégoire UL et al

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (2017, July 27)

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 ... [more ▼]

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. [less ▲]

Detailed reference viewed: 105 (17 UL)
Full Text
Peer Reviewed
See detailASIMUT project: Aid to SItuation Management based on MUltimodal, MUltiUAVs, MUltilevel acquisition Techniques
Bouvry, Pascal UL; Chaumette, Serge; Danoy, Grégoire UL et al

in DroNet'17 Proceedings of the 3rd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications (2017, June 23)

This document summarizes the activities and results of the ASIMUT project (Aid to SItuation Management based on MUltimodal, MUltiUAVs, MUltilevel acquisition Techniques) carried out by the consortium ... [more ▼]

This document summarizes the activities and results of the ASIMUT project (Aid to SItuation Management based on MUltimodal, MUltiUAVs, MUltilevel acquisition Techniques) carried out by the consortium composed of Thales, Fraunhofer IOSB, Fly-n-Sense, University of Bordeaux and University of Luxembourg. Funded by the European Defence Agency (EDA), the objectives of the ASIMUT project are to design, implement and validate algorithms that will allow the efficient usage of autonomous swarms of Unmanned Aerial Vehicles (UAVs) for surveillance missions. [less ▲]

Detailed reference viewed: 60 (10 UL)
Full Text
Peer Reviewed
See detailImpact du mécanisme chaotique sur l’optimisation d’un modèle de mobilité pour un essaim de drones devant réaliser une couverture de zone
Rosalie, Martin UL; Danoy, Grégoire UL; Chaumette, Serge et al

in Falcon, Eric; Lefranc, Marc; Pétrélis, François (Eds.) et al Comptes-rendus de la 20e Rencontre du Non Linéaire (2017, March)

Solution of differential equations system can be chaotic attractors with various chaotic mechanisms. In this paper we highlight that the use of these chaotic mechanisms permits to enhance the ... [more ▼]

Solution of differential equations system can be chaotic attractors with various chaotic mechanisms. In this paper we highlight that the use of these chaotic mechanisms permits to enhance the diversification of metaheuristics. We applied our approach to the coverage problem using a swarm of UAVs where the diversification of an ant colony algorithm is enhanced by chaos coming from Ma system and Rössler system. [less ▲]

Detailed reference viewed: 63 (9 UL)
Full Text
See detailExploring chaotic dynamics by partition of bifurcation diagram
Changaival, Boonyarit UL; Rosalie, Martin UL

in Proceeding of Workshop on Advance in Nonlinear Complex Systems and Applications (WANCSA) (2017)

Chaotic dynamical systems have been recently successfully used to replace uniform probability functions in several algorithms in optimization and machine learning. In this work, we propose a study on the ... [more ▼]

Chaotic dynamical systems have been recently successfully used to replace uniform probability functions in several algorithms in optimization and machine learning. In this work, we propose a study on the use of bifurcation diagrams and first return map in the Rössler system for producing chaotic dynamics. Then, we plan to use these chaotic dynamic for optimization problem. With a bifurcation diagram we can also distinguish the periodic solutions apart from the chaotic solutions. By studying the chaotic solutions, we can then achieve a first return map which is a signature of the dynamical system and thoroughly study the complexity of the latter with a certain set of parameters. As a result, the partition in the bifurcation diagram is provided. From the first return maps, we are able to confirm the complexity of the dynamics in those partitions along with the transitions between them. [less ▲]

Detailed reference viewed: 31 (2 UL)
Full Text
Peer Reviewed
See detailFrom Random Process to Chaotic Behavior in Swarms of UAVs
Rosalie, Martin UL; Danoy, Grégoire UL; Chaumette, Serge et al

in DIVANet '16 Proceedings of the 6th ACM Symposium on Development and Analysis of Intelligent Vehicular Networks and Applications (2016, November)

Unmanned Aerial Vehicles (UAVs) applications have seen an important increase in the last decade for both military and civilian applications ranging from fire and high seas rescue to military surveillance ... [more ▼]

Unmanned Aerial Vehicles (UAVs) applications have seen an important increase in the last decade for both military and civilian applications ranging from fire and high seas rescue to military surveillance and target detection. While this technology is now mature for a single UAV, new methods are needed to operate UAVs in swarms, also referred to as fleets. This work focuses on the mobility management of one single autonomous swarm of UAVs which mission is to cover a given area in order to collect information. Several constraints are applied to the swarm to solve this problem due to the military context. First, the UAVs mobility must be as unpredictable as possible to prevent any UAV tracking. However the Ground Control Station (GCS) operator(s) still needs to be able to forecast the UAVs paths. Finally, the UAVs are autonomous in order to guarantee the mission continuity in a hostile environment and the method must be distributed to ensure fault-tolerance of the system. To solve this problem, we introduce the Chaotic Ant Colony Optimization to Coverage (CACOC) algorithm that combines an Ant Colony Optimization approach (ACO) with a chaotic dynamical system. CACOC permits to obtain a deterministic but unpredictable system. Its performance is compared to other state-of-the art models from the literature using several coverage-related metrics, i.e. coverage rate, recent coverage and fairness. Numerical results obtained by simulation underline the performance of our CACOC method: a deterministic method with unpredictable UAV trajectories that still ensures a high area coverage. [less ▲]

Detailed reference viewed: 83 (6 UL)
Full Text
Peer Reviewed
See detailUsing Heterogeneous Multilevel Swarms of UAVs and High-Level Data Fusion to Support Situation Management in Surveillance Scenarios
Bouvry, Pascal UL; Chaumette, Serge; Danoy, Grégoire UL et al

in 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016 (2016, September 19)

The development and usage of Unmanned Aerial Vehicles (UAVs) quickly increased in the last decades, mainly for military purposes. This technology is also now of high interest in non-military contexts like ... [more ▼]

The development and usage of Unmanned Aerial Vehicles (UAVs) quickly increased in the last decades, mainly for military purposes. This technology is also now of high interest in non-military contexts like logistics, environmental studies and different areas of civil protection. While the technology for operating a single UAV is rather mature, additional efforts are still necessary for using UAVs in fleets (or swarms). The Aid to SItuation Management based on MUltimodal, MUltiUAVs, MUltilevel acquisition Techniques (ASIMUT) project which is supported by the European Defence Agency (EDA) aims at investigating and demonstrating dedicated surveillance services based on fleets of UAVs. The aim is to enhance the situation awareness of an operator and to decrease his workload by providing support for the detection of threats based on multi-sensor multi-source data fusion. The operator is also supported by the combination of information delivered by the heterogeneous swarms of UAVs and by additional information extracted from intelligence databases. As a result, a distributed surveillance system increasing detection, high-level data fusion capabilities and UAV autonomy is proposed. [less ▲]

Detailed reference viewed: 83 (8 UL)
Full Text
Peer Reviewed
See detailTemplates and subtemplates of Rössler attractors from a bifurcation diagram
Rosalie, Martin UL

in Journal of Physics A: Mathematical and Theoretical (2016), 49(31), 315101

We study the bifurcation diagram of the Rössler system. It displays the various dynamical regimes of the system (stable or chaotic) when a parameter is varied. We choose a diagram that exhibits coexisting ... [more ▼]

We study the bifurcation diagram of the Rössler system. It displays the various dynamical regimes of the system (stable or chaotic) when a parameter is varied. We choose a diagram that exhibits coexisting attractors and banded chaos. We use the topological characterization method to study these attractors. Then, we detail how the templates of these attractors are subtemplates of a unique template. Our main result is that only one template describes the topological structure of eight attractors. This leads to a topological partition of the bifurcation diagram that gives the symbolic dynamic of all bifurcation diagram attractors with a unique template. [less ▲]

Detailed reference viewed: 38 (5 UL)
Full Text
Peer Reviewed
See detailUAV Multilevel Swarms for Situation Management
Rosalie, Martin UL; Danoy, Grégoire UL; Bouvry, Pascal UL et al

in Proceedings of the 2Nd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use (2016)

The development and usage of Unmanned Aerial Vehicles (UAVs) quickly increased in the last decades, mainly for military purposes. Nowadays, this type of technology is used in non-military contexts mainly ... [more ▼]

The development and usage of Unmanned Aerial Vehicles (UAVs) quickly increased in the last decades, mainly for military purposes. Nowadays, this type of technology is used in non-military contexts mainly for civil and environment protection: search & rescue teams, fire fighters, police officers, environmental scientific studies, etc. Although the technology for operating a single UAV is now mature, additional efforts are still necessary for using UAVs in fleets (or swarms). This position paper presents the ASIMUT project (Aid to SItuation Management based on MUltimodal, MUltiUAVs, MUltilevel acquisition Techniques). The challenges of this project consist of handling several fleets of UAVs (swarms) including communication, networking and positioning aspects. This motivates the development of novel multilevel cooperation algorithms which is an area that has not been widely explored, especially when autonomy is an additional challenge. Moreover, we will provide techniques to optimize communications for multilevel swarms. Finally, we will develop distributed and localized mobility management algorithms that will cope with conflicting objectives such as connectivity maintenance and geographical area coverage. [less ▲]

Detailed reference viewed: 113 (12 UL)