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- Yasin, J. N., et al.
(author)
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Dynamic Formation Reshaping Based on Point Set Registration in a Swarm of Drones
- 2021
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In: Advances in Intelligent Systems and Computing. - Cham : Springer Nature. ; , s. 577-588
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Conference paper (peer-reviewed)abstract
- 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.
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| 2. |
- Yasin, J. N., et al.
(author)
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Low-cost ultrasonic based object detection and collision avoidance method for autonomous robots
- 2021
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In: International Journal of Information Technology (Singapore). - : Springer Nature. - 2511-2104 .- 2511-2112. ; 13:1, s. 97-107
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Journal article (peer-reviewed)abstract
- This work focuses on the development of an effective collision avoidance algorithm that detects and avoids obstacles autonomously in the vicinity of a potential collision by using a single ultrasonic sensor and controlling the movement of the vehicle. The objectives are to minimise the deviation from the vehicle’s original path and also the development of an algorithm utilising one of the cheapest sensors available for very lost cost systems. For instance, in a scenario where the main ranging sensor malfunctions, a backup low cost sensor is required for safe navigation of the vehicle while keeping the deviation to a minimum. The developed algorithm utilises only one ultrasonic sensor and approximates the front shape of the detected object by sweeping the sensor mounted on top of the unmanned vehicle. In this proposed approach, the sensor is rotated for shape approximation and edge detection instead of moving the robot around the encountered obstacle. It has been tested in various indoor situations using different shapes of objects, stationary objects, moving objects, and soft or irregularly shaped objects. The results show that the algorithm provides satisfactory outcomes by entirely avoiding obstacles and rerouting the vehicle with a minimal deviation.
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