Rosalie, Martin (University of Luxembourg), Dentler, Jan (University of Luxembourg), Danoy, Grégoire (University of Luxembourg), Bouvry, Pascal (University of Luxembourg), Kannan, Somasundar (University of Luxembourg), Olivares-Mendez, Miguel A. (SnT - University of Luxembourg), Voos, Holger (University of Luxembourg)

Area Exploration with a Swarm of UAVs Combining Deterministic Chaotic Ant Colony Mobility with Position MPC

Scheduled for presentation during the "UAS Swarms" (FrA3), Friday, June 16, 2017, 11:00−11:20, Salon CD

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility model as waypoints for real UAVs. A control model of the UAVs is deployed to test the efficiency of the coverage of an area by the swarm. We have tested our approach in a realistic robotics simulator (V-Rep) which is connected with ROS. We compare the performance in terms of coverage using several metrics to ensure that this mobility model is efficient for real UAVs.