Conference
Bio-Inspired 3D Flocking Algorithm with Minimal Information Transfer for Drones Swarms
| العنوان: | Bio-Inspired 3D Flocking Algorithm with Minimal Information Transfer for Drones Swarms |
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| المؤلفون: | Verdoucq, Matthieu, Sire, Clément, Escobedo, Ramón, Theraulaz, Guy, Hattenberger, Gautier |
| المساهمون: | Ecole Nationale de l'Aviation Civile (ENAC), Laboratoire de Physique Théorique (LPT), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Fédération de recherche « Matière et interactions » (FeRMI), Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Physique Statistique des Systèmes Complexes (LPT) (PhyStat), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Centre de Recherches sur la Cognition Animale - UMR5169 (CRCA), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Centre de Biologie Intégrative (CBI), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT), ANR-20-CE45-0006,VR-FISHSCHOOL,Système de rétroaction en boucle fermée basé sur la réalité virtuelle pour l'analyse en temps réel des interactions dans des bancs de poissons(2020) |
| المصدر: | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) https://enac.hal.science/hal-04357875 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, United States. pp.8833-8838, ⟨10.1109/IROS55552.2023.10341413⟩ |
| بيانات النشر: | HAL CCSD IEEE |
| سنة النشر: | 2023 |
| المجموعة: | Université Toulouse III - Paul Sabatier: HAL-UPS |
| مصطلحات موضوعية: | 3D Flocking Algorithm Collective Motion Distributed Control Drone Swarm Unmanned Aerial Vehicle (UAV), 3D Flocking Algorithm, Collective Motion, Distributed Control, Drone Swarm, Unmanned Aerial Vehicle (UAV), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| جغرافية الموضوع: | Detroit, United States |
| الوصف: | International audience ; This article introduces a bio-inspired 3D flocking algorithm for a drone swarm, built upon a previously established 2D model, which has proven to be effective in promoting stability, alignment, and distance variation between agents within large groups of agents. The study highlights how the incorporation of a vertical interaction between agents and the acquisition by each agent of a minimal amount of information about their most influential neighbor impacts the collective behavior of the swarm. Additionally, we present a comprehensive investigation of the impacts of the intensity of alignment and attraction interactions on the collective motion patterns that emerge at the group level. These results, mostly conducted in a validated simulator, have significant implications for designing efficient UAV swarm systems and using collective patterns, or phases, in operational contexts such as corridor tracking, surveillance, and exploration. Further research will explore the effectiveness and efficiency of this UAV swarm flocking algorithm, as well as its ability to ensure safe transitions between collective phases in different operational contexts. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| Relation: | hal-04357875; https://enac.hal.science/hal-04357875; https://enac.hal.science/hal-04357875/document; https://enac.hal.science/hal-04357875/file/IROS_2023.pdf |
| DOI: | 10.1109/IROS55552.2023.10341413 |
| الاتاحة: | https://enac.hal.science/hal-04357875 https://enac.hal.science/hal-04357875/document https://enac.hal.science/hal-04357875/file/IROS_2023.pdf https://doi.org/10.1109/IROS55552.2023.10341413 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.C533B276 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/IROS55552.2023.10341413 |
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