Abstract
This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance reformation, and 2) how do such reformation while minimizing the deviation resulting in minimization of the overall time and energy consumption of the drones. To address the first question, we use cellular automata based technique to find an efficient formation that avoids the obstacle while minimizing the time and energy. Concerning the second question, a near-optimal reformation of the swarm after successful collision avoidance is achieved by applying a temperature function reduction technique, originally used in the point set registration process. The goal of the reformation process is to remove the disturbance while minimizing the overall time it takes for the swarm to reach the destination and consequently reducing the energy consumption required by this operation. To measure the degree of formation disturbance due to collision avoidance, deviation of the centroid of the swarm formation is used, inspired by the concept of the center of mass in classical mechanics. Experimental results show the efficiency of the proposed technique, in terms of performance and energy.
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Notes
- 1.
Even though the highest formation disturbance state might not totally guarantee not to have collision in TPS-based reformation phase, we take this assumption to simplify finding the moment of switching from GA-based collision avoidance phase to TPS-based resuming the original formation.
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Acknowledgment
This work has been supported in part by the Academy of Finland-funded research project 314048 and Nokia Foundation (Award No. 20200147).
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Yasin, J.N., Mahboob, H., Haghbayan, MH., Yasin, M.M., Plosila, J. (2022). Cellular Formation Maintenance and Collision Avoidance Using Centroid-Based Point Set Registration in a Swarm of Drones. In: Arai, K. (eds) Intelligent Systems and Applications. IntelliSys 2021. Lecture Notes in Networks and Systems, vol 294. Springer, Cham. https://doi.org/10.1007/978-3-030-82193-7_26
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