Experimental Reliability Analysis of Multi-UAV Simulation with TMO-Based Distributed Architecture and Global Time Synchronization

Song, Seung-Hwa; Kim, Doo-Hyun; Chang, Chun-Hyon

doi:10.1109/isorcw.2010.23

Cited by 4 publications

(2 citation statements)

References 13 publications

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“…However, this synchronisation can be achieved through different means on physical robots. One possibility is using synchronised clocks to time the robot decision making behaviour [49]. An alternative would be not using fix intervals for decision making, but starting a new decision making process as soon as the robot and the task states are updated.…”

Section: Broadcast Communicationmentioning

confidence: 99%

Collaborative online planning for automated victim search in disaster response

Beck

Teacy

Rogers

et al. 2018

Robotics and Autonomous Systems

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Collaboration is essential for effective performance by groups of robots in disaster response settings. Here we are particularly interested in heterogeneous robots that collaborate in complex scenarios with incomplete, dynamically changing information. In detail, we consider an automated victim search setting, where unmanned aerial vehicles (UAVs) with different capabilities work together to scan for mobile phones and find and provide information about possible victims near these phone locations. The state of the art for such collaboration is robot control based on independent planning for robots with different tasks and typically incorporates uncertainty with only a limited scope. In contrast, in this paper, we take into account complex relations between robots with different tasks. As a result, we create a joint, full-horizon plan for the whole robot team by optimising over the uncertainty of future information gain using an online planner with hindsight optimisation. This joint plan is also used for further optimisation of individual UAV paths based on the long-term plans of all robots. We evaluate our planner’s performance in a realistic simulation environment based on a real disaster and find that our approach finds victims 25% faster compared to current state-of-the-art approaches

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Section: Broadcast Communicationmentioning

confidence: 99%

Collaborative online planning for automated victim search in disaster response

Beck

Teacy

Rogers

et al. 2018

Robotics and Autonomous Systems

View full text Add to dashboard Cite

show abstract

“…There are a number of mathematical models that describe swarm behavior (Seung-Hwa et al, 2010;Dervis, 2010). Many of these models can be adapted to a multi agent UAV system and be evaluated using the MAV-HILS system proposed.…”

Section: Novel Algorithm Explorationmentioning

confidence: 99%