[en] We consider the positioning problem of aerial drone systems for efficient three-dimensional (3-D) coverage. Our solution draws from molecular geometry, where forces among electron pairs surrounding a central atom arrange their positions. In this paper, we propose a 3-D clustering algorithm for autonomous positioning (VBCA) of aerial drone networks based on virtual forces. These virtual forces induce interactions among drones and structure the system topology. The advantages of our approach are that (1) virtual forces enable drones to self-organize the positioning process and (2) VBCA can be implemented entirely localized. Extensive simulations show that our virtual forces clustering approach produces scalable 3-D topologies exhibiting near-optimal volume coverage. VBCA triggers efficient topology rearrangement for an altering number of nodes, while providing network connectivity to the central drone. We also draw a comparison of volume coverage achieved by VBCA against existing approaches and find VBCA up to 40% more efficient.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
BRUST, Matthias R. ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Akbas, M. Ilhan; University of Central Florida - UCF
Turgut, Damla; University of Central Florida - UCF
Co-auteurs externes :
yes
Langue du document :
Anglais
Titre :
VBCA: A Virtual Forces Clustering Algorithm for Autonomous Aerial Drone Systems
M. I. Akbas and Damla Turgut, "APAWSAN: Actor positioning for aerial wireless sensor and actor networks," in Proc. of the IEEE Conf. on Local Computer Networks (LCN), October 2011, pp. 567-574.
I. Bekmezci, O. K. Sahingoz, S. Temel, "Flying Ad-Hoc Networks (FANETs): A survey," Ad Hoc Networks, vol. 11, no. 3, pp. 1254-1270, 2013.
G. Danoy, M. R. Brust, P. Bouvry, "Connectivity stability in autonomous multi-level uav swarms for wide area monitoring," in Proceedings of ACM Symposium on Design and Analysis of Intelligent Vehicular Networks and Applications (DIVANet), 2015.
M. R. Brust and B. Strimbu, "A Networked Swarm Model for UAV Deployment in the Assessment of Forest Environments," in IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), 2015.
R. Gillespie and R. Nyholm, "Inorganic stereochemistry," Quart. Rev. Chem. Soc., vol. 11, pp. 339-380, 1957.
M. R. Brust, H. Frey, S. Rothkugel, "Adaptive multi-hop clustering in mobile networks," in ACM International Conference on Mobile Technology, Applications, Systems. ACM, 2007, pp. 132-138.
M. R. Brust, A. Andronache, S. Rothkugel, "Waca: A hierarchical weighted clustering algorithm optimized for mobile hybrid networks," in 3rd International Conference on Wireless and Mobile Communications (ICWMC'07). IEEE, 2007, pp. 23-23.
M. R. Brust, H. Frey, S. Rothkugel, "Dynamic multi-hop clustering for mobile hybrid wireless networks," in ACM Conference on Ubiquitous Information Management and Communication. ACM, 2008, pp. 130-135.
M. I. Akbas, G. Solmaz and D. Turgut, "Actor positioning based on molecular geometry in aerial sensor networks," in Proceedings of the IEEE International Conference on Communications (ICC), June 2012, pp. 508-512.
G. Lee, Y. Nishimura, K. Tatara, N. Y. Chong, "Three dimensional deployment of robot swarms," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 5073-5078.
J. Elston and E. W. Frew, "Hierarchical Distributed Control for Search and Tracking by Heterogeneous Aerial Robot Networks," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 170-175.
M. Dumiak, "Robocopters unite!" IEEE Spectrum, vol. 46, no. 2, p. 12, 2009.
S. Morgenthaler, T. Braun, Z. Zhao, T. Staub, M. Anwander, "UAVNet: A mobile wireless mesh network using Unmanned Aerial Vehicles," in Proceedings of the IEEE Global Communications Conference (GLOBECOM) Workshops, 2012, pp. 1603-1608.
C. Zang and S. Zang, "Mobility prediction clustering algorithm for UAV networking," in Proceedings of the IEEE Global Communications Conference (GLOBECOM) Workshops, December 2011, pp. 1158-1161.
C. Luo, S. McClean, G. Parr, L. Teacy, R. De Nardi, "UAV Position Estimation and Collision Avoidance Using the Extended Kalman Filter," IEEE Trans. on Vehicular Technology, vol. 62, no. 6, 2013.
I. Paixao de Medeiros, L. Ramos Rodrigues, R. Santos, E. Hideiti Shiguemori, N. Junior, L. Cairo, "PHM-based Multi-UAV task assignment," in IEEE Systems Conference (SysCon), 2014, pp. 42-49.
M. Iskandarani, S. N. Givigi, G. Fusina, A. Beaulieu, "Unmanned aerial vehicle formation flying using linear model predictive control," in IEEE Systems Conference (SysCon), 2014, pp. 18-23.
Z. Deng, C. Ma, M. Zhu, "A reconfigurable flight control system architecture for Small Unmanned Aerial Vehicles," in IEEE Systems Conference (SysCon), 2012, pp. 1-4.
G. Zeng and X. Li, "An Artifical Physics-based 3D Swarm Control Strategy," in Proc. of the IEEE Inter. Conf. on Electric Information and Control Engineering (ICEICE), 2011, pp. 148-151.
K. Li, M. I. Akbas, D. Turgut, S. S. Kanhere and S. Jha, "Reliable positioning with hybrid antenna model for aerial wireless sensor and actor networks," in Proceedings of the IEEE Wireless Communications and Networking Conference (WCNC), April 2014, pp. 2904-2909.
