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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

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Distributed swarm system with hybrid-flocking control for small fixed-wing UAVs: Algorithms and flight experiments

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Title
Distributed swarm system with hybrid-flocking control for small fixed-wing UAVs: Algorithms and flight experiments
Author
Song, YeonghoLim, SeunghanMyung, HyunsamLee, HokeunJeong, JunhoLim, HeungsikOh, Hyondong
Issue Date
2023-11
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Citation
EXPERT SYSTEMS WITH APPLICATIONS, v.229, pp.120457
Abstract
This paper presents a distributed swarm system for small fixed-wing unmanned aerial vehicles (UAVs). In particular, to perform various missions with multiple UAVs that are densely gathered and collision free, a hybrid-flocking control algorithm is synthesized by using three types of control protocols: vector field guidance (for path following/loitering), augmented Cucker-Smale (ACS) model (for collective flocking behavior), and potential field (for collision avoidance). In particular, to address the issue of conflicts between different control protocols, the adaptive ACS model is proposed and the optimization problem is formulated to determine the suitable mixing weights of control protocols. We also design the transition of multiple operation modes and communication architecture for the swarm system. The system is evaluated using the proposed hybrid-flocking control algorithm by proof-of-concept real flight experiments using 18 small fixed-wing UAVs as well as extensive numerical simulations. Flight experiments are successfully performed for multiple consecutive tasks including the individual task, circular path loitering and elliptical path loitering while avoiding collisions among UAVs.
URI
https://scholarworks.unist.ac.kr/handle/201301/64827
DOI
10.1016/j.eswa.2023.120457
ISSN
0957-4174
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