[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.
Centre de recherche :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group ULHPC - University of Luxembourg: High Performance Computing
Disciplines :
Sciences informatiques Ingénierie aérospatiale
Auteur, co-auteur :
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
Co-auteurs externes :
no
Langue du document :
Anglais
Titre :
Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Date de publication/diffusion :
27 juillet 2017
Nom de la manifestation :
International Conference on Unmanned Aircraft Systems (ICUAS)
Lieu de la manifestation :
Miami, Etats-Unis - Floride
Date de la manifestation :
from 13-06-2017 to 16-06-2017
Manifestation à portée :
International
Titre de l'ouvrage principal :
2017 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN/EAN :
978-1-5090-4495-5
Pagination :
1392-1397
Peer reviewed :
Peer reviewed
Focus Area :
Security, Reliability and Trust Computational Sciences
