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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11607

Title: 3D Exploration Priority Based Flocking of UAVs
Authors: Redwan Newaz, Abdullah Al
Lee, Geunho
Pratama, Ferdian Adi
Chong, Nak Young
Keywords: aerial swarm
online path planning
flocking
triangular formation
computational complexity
Issue Date: 2013-08-04
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2013 IEEE International Conference on Mechatronics and Automation (ICMA)
Start page: 1534
End page: 1539
DOI: 10.1109/ICMA.2013.6618142
Abstract: 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
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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