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|Title:||UAV swarm coordination using cooperative control for establishing a wireless communications backbone||Authors:||Sivakumar, A.
|Issue Date:||2010||Citation:||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|
|Appears in Collections:||Staff Publications|
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