Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments
Ano de defesa: | 2021 |
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Autor(a) principal: | |
Orientador(a): | |
Banca de defesa: | |
Tipo de documento: | Dissertação |
Tipo de acesso: | Acesso aberto |
Idioma: | por |
Instituição de defesa: |
Universidade Federal da Paraíba
Brasil Informática Programa de Pós-Graduação em Informática UFPB |
Programa de Pós-Graduação: |
Não Informado pela instituição
|
Departamento: |
Não Informado pela instituição
|
País: |
Não Informado pela instituição
|
Palavras-chave em Português: | |
Link de acesso: | https://repositorio.ufpb.br/jspui/handle/123456789/23125 |
Resumo: | Flocking, also known as coordinated motion, is a collective behavior that consists of a large group of individuals moving together towards the same target direction. Unmanned Aerial Vehicle (UAV) flocking controllers have relied on Global Navigation Satellite System (GNSS) and intra-robot communication to obtain the absolute relative information of the nearby robots. This approach is only applicable in known and accessible outdoor environments. In this thesis, we explore the possibility of achieving flocking using a team of UAVs in hard-to-access locations, particularly with remote sensing restrictions. Thus, we propose a proximal control-based method for UAV self-organized flocking that relies on a vision-based relative localization approach proposed by Walter, Saska and Franchi (2018) called the Ultra-Violet Direction And Ranging (UVDAR) system. Robots use a Lennard-Jones potential function to maintain the cohesiveness of the flocking while avoiding collision within the teammates. After numerous simulations for safe verification and tuning, we evaluate our proposed method in a real-world environment with a group of middle-size UAVs using two distinct intra-swarm relative sensing approaches. In both cases, our method efficiently achieves flocking without alignment and direction control and moves into an arbitrary direction. In this way, we accomplished self-organized flocking with limited sensory information for aerial robots with high dynamics in environments with no constraints on the boundary conditions. As contributions, we have an extension of the work of Ferrante et al. (2012) and a decentralized flocking control method with local sensing capable of work in environments with GNSS restriction. |
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Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environmentsRobótica de enxameMovimento coordenadoMicro veículos aéreosVeículos aéreos não-tripuladosAuto-organizaçãoSwarm roboticsFlockingMicro aerial vehiclesUnmanned aerial vehiclesSelf-organizationCNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAOFlocking, also known as coordinated motion, is a collective behavior that consists of a large group of individuals moving together towards the same target direction. Unmanned Aerial Vehicle (UAV) flocking controllers have relied on Global Navigation Satellite System (GNSS) and intra-robot communication to obtain the absolute relative information of the nearby robots. This approach is only applicable in known and accessible outdoor environments. In this thesis, we explore the possibility of achieving flocking using a team of UAVs in hard-to-access locations, particularly with remote sensing restrictions. Thus, we propose a proximal control-based method for UAV self-organized flocking that relies on a vision-based relative localization approach proposed by Walter, Saska and Franchi (2018) called the Ultra-Violet Direction And Ranging (UVDAR) system. Robots use a Lennard-Jones potential function to maintain the cohesiveness of the flocking while avoiding collision within the teammates. After numerous simulations for safe verification and tuning, we evaluate our proposed method in a real-world environment with a group of middle-size UAVs using two distinct intra-swarm relative sensing approaches. In both cases, our method efficiently achieves flocking without alignment and direction control and moves into an arbitrary direction. In this way, we accomplished self-organized flocking with limited sensory information for aerial robots with high dynamics in environments with no constraints on the boundary conditions. As contributions, we have an extension of the work of Ferrante et al. (2012) and a decentralized flocking control method with local sensing capable of work in environments with GNSS restriction.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPESFlocking, também conhecido como movimento coordenado, é um comportamento coletivo que consiste em um grande grupo de indivíduos movendo-se juntos numa direção-alvo. Os controladores de movimento coordenado para Veículos Aéreos Não-Tripulados (VANTs) contam com o Sistema Global de Navegação por Satélite (SGNS) e a comunicação intrarobô para obter as informações relativas absolutas dos robôs próximos. Esta abordagem é aplicável apenas em ambientes externos conhecidos e acessíveis. Nesta dissertação, exploramos a possibilidade de atingir movimento coordenado utilizando uma equipe de VANTs em locais de difícil acesso, particularmente em ambientes com restrições de sensoriamento remoto. Assim, propomos um método baseado em controle proximal para movimento coordenado auto-organizado de VANTs que emprega um sistema de localização relativa baseado em visão proposto por Walter, Saska and Franchi (2018) conhecido como sistema Ultra-Violet Direction And Ranging (UVDAR). Os robôs usam uma função potencial de Lennard-Jones para manter a coesão do grupo, evitando a colisão entre os companheiros. Após inúmeras simulações de ajuste e verificação de segurança, avaliamos nosso método proposto em um ambiente de mundo real com um grupo de VANTs de médio porte usando duas abordagens distintas de detecção relativa intra-enxame. Em ambos os casos, nosso método atingiu com eficiência o movimento coordenado sem controle de alinhamento e direção e se moveu em uma direção arbitrária. Desta forma, obtivemos movimento coordenado auto-organizado com informações sensoriais limitadas para robôs aéreos com alta dinâmica em ambientes sem restrições nas condições de fronteira. Como contribuições, temos uma extensão do trabalho do Ferrante et al. (2012) e um método de controle de movimento coordenado descentralizado com sensoriamento local capaz de funcionar em ambientes com restrição de SGNS.Universidade Federal da ParaíbaBrasilInformáticaPrograma de Pós-Graduação em InformáticaUFPBNascimento, Tiago P. dohttp://lattes.cnpq.br/1641673656667170Amorim, Thulio Guilherme Silva de2022-06-14T18:35:52Z2022-03-102022-06-14T18:35:52Z2021-07-22info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesishttps://repositorio.ufpb.br/jspui/handle/123456789/23125porAttribution-NoDerivs 3.0 Brazilhttp://creativecommons.org/licenses/by-nd/3.0/br/info:eu-repo/semantics/openAccessreponame:Biblioteca Digital de Teses e Dissertações da UFPBinstname:Universidade Federal da Paraíba (UFPB)instacron:UFPB2022-06-15T16:39:17Zoai:repositorio.ufpb.br:123456789/23125Biblioteca Digital de Teses e Dissertaçõeshttps://repositorio.ufpb.br/PUBhttp://tede.biblioteca.ufpb.br:8080/oai/requestdiretoria@ufpb.br|| diretoria@ufpb.bropendoar:2022-06-15T16:39:17Biblioteca Digital de Teses e Dissertações da UFPB - Universidade Federal da Paraíba (UFPB)false |
dc.title.none.fl_str_mv |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
title |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
spellingShingle |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments Amorim, Thulio Guilherme Silva de Robótica de enxame Movimento coordenado Micro veículos aéreos Veículos aéreos não-tripulados Auto-organização Swarm robotics Flocking Micro aerial vehicles Unmanned aerial vehicles Self-organization CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
title_short |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
title_full |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
title_fullStr |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
title_full_unstemmed |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
title_sort |
Self-organized flocking control for micro aerial vehicles swarm in global navigation satellite system-denied environments |
author |
Amorim, Thulio Guilherme Silva de |
author_facet |
Amorim, Thulio Guilherme Silva de |
author_role |
author |
dc.contributor.none.fl_str_mv |
Nascimento, Tiago P. do http://lattes.cnpq.br/1641673656667170 |
dc.contributor.author.fl_str_mv |
Amorim, Thulio Guilherme Silva de |
dc.subject.por.fl_str_mv |
Robótica de enxame Movimento coordenado Micro veículos aéreos Veículos aéreos não-tripulados Auto-organização Swarm robotics Flocking Micro aerial vehicles Unmanned aerial vehicles Self-organization CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
topic |
Robótica de enxame Movimento coordenado Micro veículos aéreos Veículos aéreos não-tripulados Auto-organização Swarm robotics Flocking Micro aerial vehicles Unmanned aerial vehicles Self-organization CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
description |
Flocking, also known as coordinated motion, is a collective behavior that consists of a large group of individuals moving together towards the same target direction. Unmanned Aerial Vehicle (UAV) flocking controllers have relied on Global Navigation Satellite System (GNSS) and intra-robot communication to obtain the absolute relative information of the nearby robots. This approach is only applicable in known and accessible outdoor environments. In this thesis, we explore the possibility of achieving flocking using a team of UAVs in hard-to-access locations, particularly with remote sensing restrictions. Thus, we propose a proximal control-based method for UAV self-organized flocking that relies on a vision-based relative localization approach proposed by Walter, Saska and Franchi (2018) called the Ultra-Violet Direction And Ranging (UVDAR) system. Robots use a Lennard-Jones potential function to maintain the cohesiveness of the flocking while avoiding collision within the teammates. After numerous simulations for safe verification and tuning, we evaluate our proposed method in a real-world environment with a group of middle-size UAVs using two distinct intra-swarm relative sensing approaches. In both cases, our method efficiently achieves flocking without alignment and direction control and moves into an arbitrary direction. In this way, we accomplished self-organized flocking with limited sensory information for aerial robots with high dynamics in environments with no constraints on the boundary conditions. As contributions, we have an extension of the work of Ferrante et al. (2012) and a decentralized flocking control method with local sensing capable of work in environments with GNSS restriction. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-07-22 2022-06-14T18:35:52Z 2022-03-10 2022-06-14T18:35:52Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://repositorio.ufpb.br/jspui/handle/123456789/23125 |
url |
https://repositorio.ufpb.br/jspui/handle/123456789/23125 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.rights.driver.fl_str_mv |
Attribution-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nd/3.0/br/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Attribution-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nd/3.0/br/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal da Paraíba Brasil Informática Programa de Pós-Graduação em Informática UFPB |
publisher.none.fl_str_mv |
Universidade Federal da Paraíba Brasil Informática Programa de Pós-Graduação em Informática UFPB |
dc.source.none.fl_str_mv |
reponame:Biblioteca Digital de Teses e Dissertações da UFPB instname:Universidade Federal da Paraíba (UFPB) instacron:UFPB |
instname_str |
Universidade Federal da Paraíba (UFPB) |
instacron_str |
UFPB |
institution |
UFPB |
reponame_str |
Biblioteca Digital de Teses e Dissertações da UFPB |
collection |
Biblioteca Digital de Teses e Dissertações da UFPB |
repository.name.fl_str_mv |
Biblioteca Digital de Teses e Dissertações da UFPB - Universidade Federal da Paraíba (UFPB) |
repository.mail.fl_str_mv |
diretoria@ufpb.br|| diretoria@ufpb.br |
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1801843204660658176 |