VG-Swarm: 視覚と遺伝子制御ネットワークによるUAV群の包囲行動創発
VG-Swarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence
遺伝子制御ネットワークと全方位視覚センサのみを用い、直接通信なしでUAV群が逃げる標的を包囲する分散制御手法を提案し、シミュレーションと実機実験で検証した。
著者: Yuwei Cai, Huanlin Li, Zhun Fan, Juncao Hong, Peng Xu, Hui Cheng, Xiaomi Zhu, Bingliang Hu, Zhifeng Hao
分類: cs.RO
原文アブストラクト
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world like gene regulatory networks (GRN). However, most swarm control algorithms rely on centralized control, global information acquisition, and communications among neighboring agents. In this work, we propose a distributed swarm control method based purely on vision and GRN without any direct communications, in which swarm agents of e.g. UAVs can generate an entrapping pattern to encircle an escaping target of UAV based purely on their installed omnidirectional vision sensors. A finite-state-machine (FSM) describing the behavioral model of each drone is also designed so that a swarm of drones can accomplish searching and entrapping of the target collectively in an integrated way. We verify the effectiveness and efficiency of the proposed method in various simulation and real-world experiments.
