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Dynamic Formation R...
Dynamic Formation Reshaping Based on Point Set Registration in a Swarm of Drones
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Yasin, J. N. (författare)
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Mohamed, S. A. S. (författare)
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Haghbayan, M. -H (författare)
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Heikkonen, J. (författare)
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- Tenhunen, Hannu (författare)
- KTH,Integrerade komponenter och kretsar
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Yasin, M. M. (författare)
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Plosila, J. (författare)
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(creator_code:org_t)
- 2021-04-13
- 2021
- Engelska.
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Ingår i: Advances in Intelligent Systems and Computing. - Cham : Springer Nature. ; , s. 577-588
- Relaterad länk:
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http://arxiv.org/pdf...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e. without slowing down. To address the first problem, we introduce a set of routines for the drones/agents to follow while reshaping to a secondary formation shape. And the second problem is resolved by utilizing the temperature function reduction technique, originally used in the point set registration process. The goal is to be able to dynamically reform the shape of multi-agent based swarm in near-optimal manner while going through narrow openings between, for instance obstacles, and then bringing the agents back to their original shape after passing through the narrow passage using point set registration technique.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Agent-based modeling
- Autonomous swarm
- Collision avoidance
- Multi-agent systems
- Point set registration
- Swarm intelligence
- Geometry
- Multi agent systems
- Autonomous swarms
- Multi agent
- Near-optimal
- Point-set registrations
- Reduction techniques
- Temperature function
- Drones
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)