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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10119/11607

タイトル: 3D Exploration Priority Based Flocking of UAVs
著者: Redwan Newaz, Abdullah Al
Lee, Geunho
Pratama, Ferdian Adi
Chong, Nak Young
キーワード: aerial swarm
online path planning
triangular formation
computational complexity
発行日: 2013-08-04
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: 2013 IEEE International Conference on Mechatronics and Automation (ICMA)
開始ページ: 1534
終了ページ: 1539
DOI: 10.1109/ICMA.2013.6618142
抄録: This paper presents a 3D flocking algorithm for a team of unmanned aerial vehicles (UAVs), where each member is equipped with limited range sensors and computational resources. A minimal leader-follower communication scheme is proposed for maneuvering huge swarm of UAVs. The proposed triangular formation compacts the overall group size. Even though UAVs are considered for tactical, remote monitoring, and surveillance purposes in both indoor and outdoor environments, it is very difficult to achieve autonomous aerial flocking in unknown cluttered environments. Specifically, greater attention is placed to reduce computational complexity for on-board implementation. We demonstrate the efficiency of our algorithm in a real world scenario with the V-REP simulator employing a group of five UAVs.
Rights: This is the author's version of the work. Copyright (C) 2013 IEEE. 2013 IEEE International Conference on Mechatronics and Automation (ICMA), 2013, 1534-1539. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/11607
資料タイプ: author
出現コレクション:b11-1. 会議発表論文・発表資料 (Conference Papers)


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