{"title":"无人机蜂群的联合群集与去冲突","authors":"Srijita Mukherjee, K. Namuduri","doi":"10.1109/MILCOM47813.2019.9020935","DOIUrl":null,"url":null,"abstract":"Flocking and deconfliction are two important functional aspects of swarms. Flocking in Unmanned Aerial Vehicle (UAV) swarms refers to UAVs flying in a pattern whereas deconfliction refers to collision avoidance. Flocking enables communications and information sharing among neighbors. This paper presents a distributed model and establishes the necessary control laws for joint flocking and deconfliction. The proposed model and control laws are developed based on the principles of consensus-building and social potential functions. Experiments with promising results are presented to support the derived model.","PeriodicalId":371812,"journal":{"name":"MILCOM 2019 - 2019 IEEE Military Communications Conference (MILCOM)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Joint Flocking and Deconfliction in Unmanned Aerial Vehicle Swarms\",\"authors\":\"Srijita Mukherjee, K. Namuduri\",\"doi\":\"10.1109/MILCOM47813.2019.9020935\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Flocking and deconfliction are two important functional aspects of swarms. Flocking in Unmanned Aerial Vehicle (UAV) swarms refers to UAVs flying in a pattern whereas deconfliction refers to collision avoidance. Flocking enables communications and information sharing among neighbors. This paper presents a distributed model and establishes the necessary control laws for joint flocking and deconfliction. The proposed model and control laws are developed based on the principles of consensus-building and social potential functions. Experiments with promising results are presented to support the derived model.\",\"PeriodicalId\":371812,\"journal\":{\"name\":\"MILCOM 2019 - 2019 IEEE Military Communications Conference (MILCOM)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"MILCOM 2019 - 2019 IEEE Military Communications Conference (MILCOM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MILCOM47813.2019.9020935\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"MILCOM 2019 - 2019 IEEE Military Communications Conference (MILCOM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MILCOM47813.2019.9020935","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Joint Flocking and Deconfliction in Unmanned Aerial Vehicle Swarms
Flocking and deconfliction are two important functional aspects of swarms. Flocking in Unmanned Aerial Vehicle (UAV) swarms refers to UAVs flying in a pattern whereas deconfliction refers to collision avoidance. Flocking enables communications and information sharing among neighbors. This paper presents a distributed model and establishes the necessary control laws for joint flocking and deconfliction. The proposed model and control laws are developed based on the principles of consensus-building and social potential functions. Experiments with promising results are presented to support the derived model.
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