Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/78410
Title: UAV swarm coordination using cooperative control for establishing a wireless communications backbone
Authors: Sivakumar, A. 
Tan, C.K.-Y. 
Keywords: Cooperative control
Disaster relief
DTN
Swarm coordination
Teamwork
Issue Date: 2010
Source: Sivakumar, A.,Tan, C.K.-Y. (2010). UAV swarm coordination using cooperative control for establishing a wireless communications backbone. 9th International Joint Conference on Autonomous Agents and Multiagent Systems 2010, AAMAS 2010 2 : 1157-1164. ScholarBank@NUS Repository.
Abstract: In this paper, we present a mechanism to fly a swarm of UAVs with the aim of establishing a wireless backbone over a pre-specified area. The backbone is aimed at connecting intermittent wireless-signal-emitting mobile ground stations (GSs), comprising rescue teams and survivors. To this end, we present a decentralized behavior-based cooperative control architecture to search for unknown GSs and relay packets from one GS to another. A delay tolerant network protocol implementation is assumed on the agents but maintained transparent to the GSs. The conditions for agent state transition are adapted to maximize a measured performance score. A novel belief exchange mechanism for cooperation is designed to utilize low bandwidth through state estimation by a Dynamic Cell Structure. Extensive simulations are performed to prove the effectiveness of the proposed solution via measured performance metrics like average latency and visit frequency. Copyright © 2010, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
Source Title: 9th International Joint Conference on Autonomous Agents and Multiagent Systems 2010, AAMAS 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/78410
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