A swarm model for planar formations of multiple autonomous unmanned aerial vehicles

Vanualailai, Jito and Sharan, Ashna and Sharma, Bibhya N. (2013) A swarm model for planar formations of multiple autonomous unmanned aerial vehicles. [Conference Proceedings]

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Abstract

A swarm model that induces emergent collective behaviors from the individuals in the swarm is proposed for the planar formations of multiple autonomous unmanned aerial vehicles (UAVs). The stability of the formations, or cohesiveness of the swarm, is guaranteed via the the Direct Method of Lyapunov which is used to construct the instantaneous velocity of each individual. A Lyapunov-like function, from which the velocity controllers are constructed, expresses the three well-known Reynolds' flocking rules as artificial potential fields for inter-individual attraction and avoidance. Basic patterns of planar formation which are similar to emergent behaviors distinctive of swarming in nature are demonstrated via computer simulations. Different emergent patterns are obtained with variations in the system parameters.

Item Type:	Conference Proceedings
Subjects:	Q Science > QA Mathematics
Divisions:	Office of the PVC (R&I) Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Ms Shalni Sanjana
Date Deposited:	11 Dec 2013 02:59
Last Modified:	01 Sep 2017 00:48
URI:	https://repository.usp.ac.fj/id/eprint/7067

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