Reference : Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobi...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Aerospace & aeronautics engineering Engineering, computing & technology : Computer science
	Focus Areas :	Security, Reliability and Trust; Computational Sciences
	To cite this reference:	http://hdl.handle.net/10993/31476

Title :	Area exploration with a swarm of UAVs combining deterministic Chaotic Ant Colony Mobility with position MPC
Language :	English
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 >]
Publication date :	27-Jul-2017
Main document title :	2017 International Conference on Unmanned Aircraft Systems (ICUAS)
Pages :	1392-1397
Peer reviewed :	Yes
On invitation :	No
Audience :	International
ISBN :	978-1-5090-4495-5
Event name :	International Conference on Unmanned Aircraft Systems (ICUAS)
Event date :	from 13-06-2017 to 16-06-2017
Event place (city) :	Miami
Event country :	FL, USA
Keywords :	[en] 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 centres :	Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group ; University of Luxembourg: High Performance Computing - ULHPC
Funders :	Fonds National de la Recherche - FnR
Permalink :	http://hdl.handle.net/10993/31476
DOI :	10.1109/ICUAS.2017.7991418
Other URL :	http://ieeexplore.ieee.org/document/7991418/

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