| VGSwarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence | |
Cai, Yuwei1; Li, Huanlin1; Fan, Zhun1; Hong, Juncao1; Xu, Peng1 ; Cheng, Hui2; Zhu, Xiaomi3; Hu, Bingliang4; Hao, Zhifeng1
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| 作者部门 | 光谱成像技术研究室 |
| 2022-06-17 | |
| 出处 | arXiv |
| ISSN | 23318422 |
| 产权排序 | 4 |
| 摘要 | UAVs (Unmanned Aerial Vehicles) dynamic encirclement is an emerging field with great potential. Researchers often get inspirations from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world like gene regulatory networks. However, most swarm control algorithms rely on centralized control, global information acquisition, or communication between neighboring agents. In this work, we propose a distributed swarm control method based purely on vision 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 purly on their installed omnidirectional vision sensors. A finite-state-machine describing the behavior model of each individual drone is also designed so that a swarm of drones can accomplish searching and entrapping of the target collectively. We verify the effectiveness and efficiency of the proposed method in various simulation and real-world experiments. Copyright © 2022, The Authors. All rights reserved. |
| 收录类别 | EI |
| 语种 | 英语 |
| 出版者 | arXiv |
| EI入藏号 | 20220185087 |
| 文献类型 | 预印本 |
| 条目标识符 | http://ir.opt.ac.cn/handle/181661/96046 |
| 专题 | 光谱成像技术研究室 |
| 作者单位 | 1.Key Lab of Digital Signal, Image Processing of Guangdong Province, College of Engineering, Shantou University, China; 2.School of Computer Science and Engineering, Sun Yat-Sen University, Guangzhou; 511400, China; 3.College of Systems Engineering, National University of Defense Technology Changsha, China; 4.Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Shanxi Province, Xi'An, China |
| 推荐引用方式 GB/T 7714 | Cai, Yuwei,Li, Huanlin,Fan, Zhun,et al. VGSwarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence. 2022. |
| 条目包含的文件 | ||||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| VGSwarm A Vision-bas（8247KB） | 预印本 | 限制开放 | CC BY-NC-SA | 请求全文 | ||
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