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VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence
Li, Huanlin1; Cai, Yuwei1; Hong, Juncao1; Xu, Peng1; Cheng, Hui2; Zhu, Xiaomin3; Hu, Bingliang4; Hao, Zhifeng1; Fan, Zhun1
作者部门光谱成像技术研究室
2023-03-01
发表期刊IEEE Robotics and Automation Letters
ISSN23773766
卷号8期号:3页码:1175-1182
产权排序4
摘要

We present VG-Swarm, a practical and effective method for aerial robots dynamic encirclement, which consists of a vision-based gene regulatory network (V-GRN) and a visual perception module. For each flying robot deployed with the proposed method, the relative spatial positions of the surrounding robots, targets, and obstacles are first obtained by omnidirectional monocular vision. Then the proposed method is used to generate the concentration field within its own perception range according to the obtained position information. The agent individually calculates and selects an optimal moving direction in its concentration field, and finally stays on its selected encirclement pattern (a closed concentration contour around the target). As a result, a swarm of flying robots can emerge adaptive pattern formations to entrap the targets even without any communication and global information. We verify the effectiveness and robustness of the proposed method in various simulations and real-world experiments. © 2016 IEEE.

关键词Aerial systems Perception and autonomy biologically-inspired robots swarm robotics
DOI10.1109/LRA.2023.3236565
收录类别EI
语种英语
出版者Institute of Electrical and Electronics Engineers Inc.
EI入藏号20230613542994
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.opt.ac.cn/handle/181661/96335
专题光谱成像技术研究室
通讯作者Fan, Zhun
作者单位1.University of Shantou, Key Lab of Digital Signal and Image Processing of Guangdong Province, College of Engineering, Guangdong; 515063, China;
2.University of Sun Yat-Sen, School of Computer Science and Engineering, Guangdong; 510006, China;
3.College of Systems Engineering, National University of Defense Technology Changsha, Hunan; 410073, China;
4.Xi'An Institute of Optics and Precision Mechanics, Shanxi; 710119, China
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Li, Huanlin,Cai, Yuwei,Hong, Juncao,et al. VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence[J]. IEEE Robotics and Automation Letters,2023,8(3):1175-1182.
APA Li, Huanlin.,Cai, Yuwei.,Hong, Juncao.,Xu, Peng.,Cheng, Hui.,...&Fan, Zhun.(2023).VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence.IEEE Robotics and Automation Letters,8(3),1175-1182.
MLA Li, Huanlin,et al."VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence".IEEE Robotics and Automation Letters 8.3(2023):1175-1182.
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