Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
68
Citation
36
Reference
10
Related Paper
Citation Trend
Abstract:
This paper investigates the development of a new guidance algorithm for a formation of unmanned aerial vehicles.Using the new approach of bifurcating potential fields, it is shown that a formation of unmanned aerial vehicles can be successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns.The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications.To demonstrate this, a guidance and control method is developed, based on a six-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.The motion of a fluid is extremely complex because the individual molecules are subject to random thermal motion as well as to the collective motion of the fluid as a whole. Thus we consider a small element dτ of the fluid and follow its motion as a function of time. We will assume that the fluid is incompressible, so that the mass dm = ρ dτ contained in the volume dτ remains fixed and the density ρ is constant throughout the fluid; we will also assume that the fluid is non-viscous, that is there are no internal frictional forces. These two assumptions are applicable to motion through air when the velocity v is small as compared to the velocity of sound vs, i.e. v « vs. The velocity of sound is a measure of the random thermal velocity of the molecules; its value for air at s.t.p. is vs ≃ 330 m/s. When necessary we will relax these assumptions.
Airplane
Rocket (weapon)
Cite
Citations (0)
Rocket (weapon)
Cite
Citations (0)
Space program
Cite
Citations (0)
The research progress of swarm robotics is reviewed in details. The swarm robotics inspired from nature is a combination of swarm intelligence and robotics, which shows a great potential in several aspects. First of all, the cooperation of nature swarm and swarm intelligence are briefly introduced, and the special features of the swarm robotics are summarized compared to a single robot and other multi-individual systems. Then the modeling methods for swarm robotics are described, followed by a list of several widely used swarm robotics entity projects and simulation platforms. Finally, as a main part of this paper, the current research on the swarm robotic algorithms are presented in detail, including cooperative control mechanisms in swarm robotics for flocking, navigating and searching applications.
Swarm Robotics
Swarm intelligence
Ant robotics
Cite
Citations (316)
Based on the analysis of existing technical solutions, promising structural designs of ammunition with rocket ramjet of 130, 152, and 203 mm caliber have been developed.Mathematical models of the ballistic functioning of artillery projectiles are implemented in software, which allow us to analyze the influence of design parameters on the ballistic functioning of active, active-reactive ammunition and ammunition with rocket ramjet.For ammunition of a promising scheme, a calculation was made of the support parameters and characteristic periods of the rocket ramjet, providing the possibility of increasing the firing range to 60 km or more.
Ammunition
Artillery
Ramjet
Rocket (weapon)
Cite
Citations (0)
The supersonic speeds of X-series aircraft and wind tunnel data in the early 1950s demonstrated that hypersonic flight was an achievable goal. A blunt-nosed vehicle was found to form a bow shock that deflected much of the heating an aircraft would otherwise experience at high speeds. It was felt that critical aspects of hypersonic flight, e.g., aerodynamic performance and heating, controllability, etc., could not be fully explored in wind tunnels. The X-15 project was initiated by NASA in 1954 to produce a vehicle capable of Mach 7 flight to altitudes that would permit short evaluations of human performance in microgravity. Design tradeoffs examined in the program are discussed, with emphasis on lifting bodies and winged vehicles with high L/D ratios. Political pressures created by the public triumph of the Sputnik in 1958 removed much of the impetus for development of a manned spaceplane, and long-term goals that eventually led to the Shuttle were delayed by a short-term program oriented toward ballistic manned capsules.
Scramjet
Hypersonic flight
Space launch
Cite
Citations (0)
Rocket (weapon)
Cite
Citations (0)
Flight test
Jet propulsion
Cite
Citations (0)
Swarm robotics is a relatively new research area inspired from biological systems such as ant or bee colonies. It composes a system consisting of many small robots with simple control mechanisms capable of achieving complex collective behaviours on the swarm level such as aggregation, pattern formation and collective transportation to name a few. However, more research is still required to apply swarm robotics in practice. Within the scope of our knowledge at the moment there are no swarm robotics applications for real-life problems. The current research tends to solve specific tasks in controlled laboratory environments. In this paper we survey the existing works on swarm robotics and their applications and also analyse the potential of their applicability to solve real-life problems The analysis of the results of these studies shows that robot swarms are capable to solve these tasks satisfactory in controlled laboratory environments, at the same time there is no evidence of applying swarm robotics to solve real-life problems. The purpose of this paper is to take a step closer to bridging the gap between research in swarm robotics and their practical applications. We analyze the existing approaches in the field of swarm robotics and discuss their result applicability for solving real-life problems by outlining tasks that have been studied in the context of swarm robotics systems and analysing their potential practical applications. We also discuss how the tasks could be combined to achieve desirable practical results. Tasks of the swarm The potential applications of swarm robotics range from surveillance operations (15) to mine disarming in hostile environments (16). We believe it is essential to identify the tasks that can be solved using swarm robotics. According to recent literature reviews (1; 2; 17-19), swarm robotics has been studied in the context of the following tasks: Aggregation deals with spatially grouping all robots together in a region of the environment. Aggregation is used to get robots in a swarm sufficiently close together and can be used as a starting point for performing some additional tasks, such as communication with limited range. Aggregation near points of interest can be viewed as the first step of more complex tasks, such as collective
Swarm Robotics
Ant robotics
Swarm intelligence
Scope (computer science)
Cite
Citations (8)