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Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Rosalie, Martin; Dentler, Jan Eric; Danoy, Grégoire et al.
2017In 2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Peer reviewed
 

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Keywords :
swarm of UAVs; control; Ant Colony Optimization
Abstract :
[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.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
ULHPC - University of Luxembourg: High Performance Computing
Disciplines :
Aerospace & aeronautics engineering
Computer science
Author, co-author :
Rosalie, Martin ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Dentler, Jan Eric ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Danoy, Grégoire  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC)
Bouvry, Pascal ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC)
Kannan, Somasundar ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Olivares Mendez, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Voos, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Publication date :
27 July 2017
Event name :
International Conference on Unmanned Aircraft Systems (ICUAS)
Event place :
Miami, United States - Florida
Event date :
from 13-06-2017 to 16-06-2017
Audience :
International
Main work title :
2017 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN/EAN :
978-1-5090-4495-5
Pages :
1392-1397
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust
Computational Sciences
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 20 June 2017

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