How Far Two UAVs Should be Subject to Communication Uncertainties

Quan, Quan; Fu, Rao; Cai, Kai-Yuan

doi:10.1109/tits.2022.3213555

Cited by 12 publications

(3 citation statements)

References 30 publications

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“…In a specific application, the number of design issues tends to be small or moderate, often under several hundred parameters, despite the wide range of applications for bio-inspired and evolutionary algorithms. The application scenario considered for an algorithm is the most important indicator of how effectively it can solve a wide range of issues [ 97 ]. Hence, the application field for a bio-inspired algorithm must be understood beforehand to achieve the mission objectives.…”

Section: Challenges and Future Research Directionsmentioning

confidence: 99%

Bio-Inspired Optimization-Based Path Planning Algorithms in Unmanned Aerial Vehicles: A Survey

Poudel

Arafat

Moh

2023

Sensors

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Advancements in electronics and software have enabled the rapid development of unmanned aerial vehicles (UAVs) and UAV-assisted applications. Although the mobility of UAVs allows for flexible deployment of networks, it introduces challenges regarding throughput, delay, cost, and energy. Therefore, path planning is an important aspect of UAV communications. Bio-inspired algorithms rely on the inspiration and principles of the biological evolution of nature to achieve robust survival techniques. However, the issues have many nonlinear constraints, which pose a number of problems such as time restrictions and high dimensionality. Recent trends tend to employ bio-inspired optimization algorithms, which are a potential method for handling difficult optimization problems, to address the issues associated with standard optimization algorithms. Focusing on these points, we investigate various bio-inspired algorithms for UAV path planning over the past decade. To the best of our knowledge, no survey on existing bio-inspired algorithms for UAV path planning has been reported in the literature. In this study, we investigate the prevailing bio-inspired algorithms extensively from the perspective of key features, working principles, advantages, and limitations. Subsequently, path planning algorithms are compared with each other in terms of their major features, characteristics, and performance factors. Furthermore, the challenges and future research trends in UAV path planning are summarized and discussed.

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Section: Challenges and Future Research Directionsmentioning

confidence: 99%

Bio-Inspired Optimization-Based Path Planning Algorithms in Unmanned Aerial Vehicles: A Survey

Poudel

Arafat

Moh

2023

Sensors

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“…The ellipse of area scriptOj,k at time k is denoted bywhere p j , k is the position of the center mass of robot j at time k , E=diag(aj,bj,cj) is an invertible scaling matrix to bound the boundary of the ellipse. The details of designing E can be found in Quan et al (2023a). If the robot i is regarded as a mass point, the obstacle space scriptOk of robot i at time k is expressed aswhere scriptOij,k={p|p∈scriptOi,k⊕scriptOj,k}, ⊕ is the Minkowski sum.…”

Section: Model Predictive Control For Tracking Trajectories In An Opt...mentioning

confidence: 99%

Optimal virtual tube planning and control for swarm robotics

Mao,

Fu,

Quan

2023

The International Journal of Robotics Research

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This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm robotics in cluttered environments, but optimizing trajectories for each robot is still computationally expensive, with a computational complexity from [Formula: see text] to [Formula: see text] where [Formula: see text] is the number of parameters in the parameterized trajectory, [Formula: see text] is precision, and [Formula: see text] is the number of iterations with respect to [Formula: see text] and [Formula: see text]. Furthermore, the swarm is difficult to move as a group. To address this issue, we define and then construct the optimal virtual tube, which includes infinite optimal trajectories. Under certain conditions, any optimal trajectory in the optimal virtual tube can be expressed as a convex combination of a finite number of optimal trajectories, with a computational complexity of [Formula: see text]. Afterward, a hierarchical approach including a planning method of the optimal virtual tube with minimizing energy and distributed model predictive control is proposed. In simulations and experiments, the proposed approach is validated and its effectiveness over other methods is demonstrated through comparison.

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“…When robots are moving inside a virtual tube, collision avoidance among robots is very important. In [130], the authors propose a separation principle of the safety radius design and controller design subject to communication uncertainties. With the separation principle, the safety radius in the High traffic efficiency is usually a control objective inside the virtual tube.…”

Section: Other Work and Applications Related To Virtual Tubementioning

confidence: 99%

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

Gao

Bai

Quan

2023

IEEE Trans. Control Netw. Syst.

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This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues for enhancing existing methods. This survey describes some models of robots and commonly considered control objectives, followed by an in-depth analysis of four types of algorithms that can be employed for passing-through control: leader-follower formation control, multi-robot trajectory planning, control-based methods, and virtual tube planning and control. Furthermore, we conduct a comparative analysis of these techniques and provide some subjective and general evaluations.

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How Far Two UAVs Should be Subject to Communication Uncertainties

Cited by 12 publications

References 30 publications

Bio-Inspired Optimization-Based Path Planning Algorithms in Unmanned Aerial Vehicles: A Survey

Bio-Inspired Optimization-Based Path Planning Algorithms in Unmanned Aerial Vehicles: A Survey

Optimal virtual tube planning and control for swarm robotics

Distributed Control for a Multiagent System to Pass Through a Connected Quadrangle Virtual Tube

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