Chaos-enhanced mobility models for multilevel swarms of UAVs

The number of civilian and military applications using Unmanned Aerial Vehicles (UAVs) has increased during the last years and the forecasts for upcoming years are exponential. One of the current major challenges consist in considering UAVs as autonomous swarms to address some limitations of single...

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Bibliographic Details
Published inSwarm and evolutionary computation Vol. 41; pp. 36 - 48
Main Authors Rosalie, Martin, Danoy, Grégoire, Chaumette, Serge, Bouvry, Pascal
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.08.2018
Elsevier
Subjects
ACO
Chaotic Dynamics
Computer Science
Dynamical Systems
First return map
Global optimization
Mathematics
Mobility model
Multiagent Systems
Nonlinear Sciences
Swarm of UAVs
Chaotic dynamics
Global optimization
Swarm of UAVs
ACO
Mobility model
First return map
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Summary:The number of civilian and military applications using Unmanned Aerial Vehicles (UAVs) has increased during the last years and the forecasts for upcoming years are exponential. One of the current major challenges consist in considering UAVs as autonomous swarms to address some limitations of single UAV usage such as autonomy, range of operation and resilience. In this article we propose novel mobility models for multi-level swarms of collaborating UAVs used for the coverage of a given area. These mobility models generate unpredictable trajectories using a chaotic solution of a dynamical system. We detail how the chaotic properties are used to structure the exploration of an unknown area and enhance the exploration part of an Ant Colony Optimization method. Empirical evidence of the improvement of the coverage efficiency obtained by our mobility models is provided via simulation. It clearly outperforms state-of-the-art approaches.
ISSN:2210-6502
DOI:10.1016/j.swevo.2018.01.002