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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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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 ▲]

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