Review of dynamic soaring: technical aspects, nonlinear modeling perspectives and future directions

Mir, Imran; Eisa, Sameh A.; Maqsood, Adnan

doi:10.1007/s11071-018-4540-3

Cited by 47 publications

(70 citation statements)

References 90 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The cost of traveling distance is computed locally together with utility values and these values are updated in each iteration. CME based algorithms have been vastly utilized in path planning [10,13,21,22] and product design [23,24].…”

Section: ) Deterministic Cmementioning

confidence: 99%

“…Mobile-robot space exploration utilizing cluster of robots have a wide spectrum utilization ranging from transportation [1], healthcare [2], industry [3], rescue [4][5][6], to all sort of Dull Dirty and Dangerous (DDD) missions [7][8][9]. Similar to Unmanned Aerial Vehicles (UAV) [10][11][12][13][14], their applications on ground is increasing at unprecedented rate. An important aspect of mobile robotics is the exploration in an environment where multiple robots build up the finite map, without any prior knowledge of map layout or position of obstacles.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Novel Implementation of Multi-Robot Space Exploration Utilizing Coordinated Multi-Robot Exploration and Frequency Modified Whale Optimization Algorithm

et al. 2021

Self Cite

View full text Add to dashboard Cite

Multi-robot space exploration involves building a finite map utilizing a cluster of robots in an obstacle cluttered environment. The uncertainties are minimized by assigning tasks among robots and computing the optimum action. Such optimal trajectories are traditionally obtained utilizing deterministic or metaheuristic techniques, with each having peculiar limitations. Recently, limited work with the sub-optimal result has been done utilizing frameworks that utilize a blend of both techniques. This paper proposes a novel framework which involves the integration of deterministic Coordinated Multi-Robot Exploration (CME) and metaheuristic frequency modified Whale Optimization Algorithm (WOA) techniques, to perform search exploration that imitates the predatory behavior of whales. The frequency is dynamically adjusted utilizing a statistical objective function to tune exploitation and exploration operators. The proposed framework involves a) determination of the cost and utility functional values around individual group members utilizing deterministic CME technique, b) search space exploration to optimize and improve the overall solution utilizing frequency modified whale metaheuristic approach. The effectiveness of the proposed Frequency Modified Hybrid Whale Optimization Algorithm (FMH-WOA) is ascertained by training the multi-robotic framework in different complexity environmental conditions. The results efficacy is then demonstrated by comparing the results of the proposed methodology with those achieved from three other contemporary optimization techniques namely CME-WOA, CME-GWO, and CME-SineCosine.

show abstract

Section: ) Deterministic Cmementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel Implementation of Multi-Robot Space Exploration Utilizing Coordinated Multi-Robot Exploration and Frequency Modified Whale Optimization Algorithm

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…where C D 0 is the zero lift drag coefficient and K the coefficient of the lift dependent drag. Many authors pointed out that the equations of motion can be written in Earth fixed or in the Flight path frame [16,17]. This issue is particularly important when the energy analysis is carried out to explain the different contributions occurring in the phases of the trajectory.…”

Section: Vehicle and Wind Modelsmentioning

confidence: 99%

“…A detailed review of relevant phenomena concerning dynamic soaring is presented in Mir et al [17], with a particular attention to applications for autonomous vehicles. Recently Kai et al [18] investigated the effect of dynamic soaring in horizontal wind along an inclined circular path crossing a thin wind shear layer.…”

Section: Introductionmentioning

confidence: 99%

On the feasibility of the Rayleigh cycle for dynamic soaring trajectories

et al. 2020

View full text Add to dashboard Cite

Dynamic soaring is a flight technique used by albatrosses and other birds to cover large distances without the expenditure of energy, which is extracted from the available wind conditions, as brightly perceived five centuries ago by Leonardo da Vinci. Closed dynamic soaring trajectories use spatial variations of wind speed to travel, in principle, indefinitely over a prescribed area. The application of the concept of closed dynamic soaring trajectories to aerial vehicles, such as UAVs, may provide a solution to improve the endurance in certain missions. The main limitation of dynamic soaring is its dependence on the wind characteristics. More than one century ago, Lord Rayleigh proposed a very simple model, based on the repeated crossing of a step wind profile, presently known as Rayleigh cycle, that provides a clear explanation of the physical phenomenon. The present paper studies the feasibility of closed, single-loop, energy-neutral trajectories for a broad set of wind and vehicle conditions. Through the use of trajectory optimization methods, it was possible to see how the shape of the wind profile, the initial flight conditions and the vehicle constraints influence the required wind strength to perform dynamic soaring trajectories and consequently their feasibility. It was possible to conclude that there are optimal values for the initial airspeed and initial height of the vehicle, that minimize the required wind strength. In addition, it was seen how the structural and aerodynamic constraints of the vehicle affect dynamic soaring at high and low airspeeds respectively. Finally, some new trajectories that can be performed in conditions of excess wind are proposed. The purpose is to maximize the time spent aloft and the path length while maintaining the concept of single-loop, energy-neutral trajectories, making them especially useful for aerial vehicles surveillance applications.

show abstract

“…The research in the area of mobile robotics covers a wide variety of subjects [1][2][3][4][5][6][7], with their broaden genre being Unmanned Aerial Vehicles (UAV) [8][9][10][11][12][13][14][15][16][17][18]. Path planning, routing, localization, networking, and sensing are some of the well-known technologies that deal with preconditioned maps of the ecosystems [19].…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Space Exploration: An Augmented Arithmetic Approach

et al. 2021

Self Cite

View full text Add to dashboard Cite

Space exploration refers to constructing a map with the aid of sensor data. This exploration is achieved utilizing a group of robots in an obstacle cluttered environment and distributing tasks amongst these robot(s). The robotic configuration is equipped with sensors to acquire data from the surroundings and to ensure collision-free motion. This paper presents a framework for the design of a Hybrid Stochastic Optimizer (HSO) for multi-robot space exploration. The proposed algorithm augments deterministic Coordinated Multi-Robot Exploration (CME) and stochastic Arithmetic Optimization (AO) techniques for maximizing the utility. The framework initially utilizes deterministic CME to ascertain the cost and utility values of adjacent cells around robot(s). The overall solution accuracy is then improved utilizing the Arithmetic Optimization algorithm. The proposed utilization of hybrid is interpreted that the algorithm starts with deterministic technique and continues off with stochastic method until the required improved solution with the desired accuracy is achieved. The effectiveness of the proposed Hybrid Stochastic Optimizer is ascertained by training the multi-robotic framework in various complexity maps. The results efficacy is then demonstrated by comparing the results of the HSO algorithm with those achieved from two contemporary techniques namely conventional CME and hybrid CME with whale optimizer. Results demonstrate that the proposed HSO algorithm significantly improved the exploration parameters by enhancing the explored area and reducing the search time.

show abstract

Review of dynamic soaring: technical aspects, nonlinear modeling perspectives and future directions

Cited by 47 publications

References 90 publications

Novel Implementation of Multi-Robot Space Exploration Utilizing Coordinated Multi-Robot Exploration and Frequency Modified Whale Optimization Algorithm

Novel Implementation of Multi-Robot Space Exploration Utilizing Coordinated Multi-Robot Exploration and Frequency Modified Whale Optimization Algorithm

On the feasibility of the Rayleigh cycle for dynamic soaring trajectories

Multi-Robot Space Exploration: An Augmented Arithmetic Approach

Contact Info

Product

Resources

About