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Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions

Aerial robotic swarms have shown benefits for performing search and surveillance missions in open spaces in the past. Among other properties, these systems are robust, scalable and adaptable to different scenarios. In this work, we propose a behavior-based algorithm to carry out a surveillance task...

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Detalles Bibliográficos
Autores principales: Garcia-Aunon, Pablo, del Cerro, Jaime, Barrientos, Antonio
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6832949/
https://www.ncbi.nlm.nih.gov/pubmed/31640272
http://dx.doi.org/10.3390/s19204584
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author Garcia-Aunon, Pablo
del Cerro, Jaime
Barrientos, Antonio
author_facet Garcia-Aunon, Pablo
del Cerro, Jaime
Barrientos, Antonio
author_sort Garcia-Aunon, Pablo
collection PubMed
description Aerial robotic swarms have shown benefits for performing search and surveillance missions in open spaces in the past. Among other properties, these systems are robust, scalable and adaptable to different scenarios. In this work, we propose a behavior-based algorithm to carry out a surveillance task in a rectangular area with a flexible number of quadcopters, flying at different speeds. Once the efficiency of the algorithm is quantitatively analyzed, the robustness of the system is demonstrated with 3 different tests: loss of broadcast messages, positioning errors, and failure of half of the agents during the mission. Experiments are carried out in an indoor arena with micro quadcopters to support simulation results. Finally, a case study is proposed to show a realistic implementation in the test bed.
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spelling pubmed-68329492019-11-25 Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions Garcia-Aunon, Pablo del Cerro, Jaime Barrientos, Antonio Sensors (Basel) Article Aerial robotic swarms have shown benefits for performing search and surveillance missions in open spaces in the past. Among other properties, these systems are robust, scalable and adaptable to different scenarios. In this work, we propose a behavior-based algorithm to carry out a surveillance task in a rectangular area with a flexible number of quadcopters, flying at different speeds. Once the efficiency of the algorithm is quantitatively analyzed, the robustness of the system is demonstrated with 3 different tests: loss of broadcast messages, positioning errors, and failure of half of the agents during the mission. Experiments are carried out in an indoor arena with micro quadcopters to support simulation results. Finally, a case study is proposed to show a realistic implementation in the test bed. MDPI 2019-10-21 /pmc/articles/PMC6832949/ /pubmed/31640272 http://dx.doi.org/10.3390/s19204584 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Garcia-Aunon, Pablo
del Cerro, Jaime
Barrientos, Antonio
Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title_full Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title_fullStr Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title_full_unstemmed Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title_short Behavior-Based Control for an Aerial Robotic Swarm in Surveillance Missions
title_sort behavior-based control for an aerial robotic swarm in surveillance missions
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6832949/
https://www.ncbi.nlm.nih.gov/pubmed/31640272
http://dx.doi.org/10.3390/s19204584
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