BROWSE

Related Researcher

Author's Photo

Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles
  • Cooperative control and path planning for unmanned vehicles
  • Nonlinear guidance and control
  • Estimation and sensor/information fusion
  • Vision-based navigation and control
  • Bio-inspired self-organising multi-vehicle system

ITEM VIEW & DOWNLOAD

Using Lazy Agents to Improve the Flocking Efficiency of Multiple UAVs

Cited 0 times inthomson ciCited 0 times inthomson ci
Title
Using Lazy Agents to Improve the Flocking Efficiency of Multiple UAVs
Author
Song, YeonghoGu, MyeonggeunChoi, JoonwonOh, HyondongLim, SeunghanShin, Hyo-SangTsourdos, Antonios
Issue Date
2021-11
Publisher
SPRINGER
Citation
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.103, no.3, pp.53
Abstract
A group of agents can form a flock using the augmented Cucker-Smale (C-S) model. The model autonomously aligns them to a common velocity and maintains a relative distance among the agents in a distributed manner by sharing the information among neighbors. This paper introduces the concept of inactiveness to the augmented C-S model for improving the flocking performance. It involves controlling the energy and convergence time required to form a stable flock. Inspired by the natural world where a few lazy (or inactive) workers are helpful to the group performance in social insect colonies. In this study, we analyzed different levels of inactiveness as a degree of control input effectiveness for multiple fixed-wing UAVs in the flocking algorithm. To find the appropriate inactiveness level for each flock member, the particle swarm optimization-based approach is used as the first step, based on the initial condition of the flock. However, as the significant computational burden may cause difficulties in implementing the optimization-based approach in real time, we also propose a heuristic adaptive inactiveness approach, which changes the inactivity level of selected agents adaptively according to their position and heading relative to the flock center. The performance of the proposed approaches using the concept of lazy (or inactive) agents is verified with numerical simulations by comparing them with the conventional flocking algorithm in various scenarios.
URI
https://scholarworks.unist.ac.kr/handle/201301/54873
URL
https://link.springer.com/article/10.1007%2Fs10846-021-01492-1
DOI
10.1007/s10846-021-01492-1
ISSN
0921-0296
Appears in Collections:
MEN_Journal Papers
Files in This Item:
There are no files associated with this item.

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qrcode

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU