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SWARMING BEHAVIORS, ALGORITHM AND

COORDINATION FOR UNMANNED AERIAL VEHICLE
OUTLINE
• Introduction
• Problem statement
• Scope
• Objective
 INTRODUCTION
An unmanned aerial vehicle (UAV) can be also called a drone is a type of aircraft without a
human pilot on board. UAVs are type of an unmanned aircraft system which include vehicle, a
ground-based controller, and a system of communication link between the two.
• Multi Rotor Drones
• Fixed Wing Drones
• Single Rotor Helicopter
• Fixed Wing Hybrid VTOL
 COMMON APPLICATION
• Stage entertainment
• search and rescue
• Providing wifi coverage
• National security
• Space exploration
INTRODUCTION
• Swarming is a natural social grouping behavior of animals or insects.
• These animals are naturally disorganized and solely depends on the actions that other
individual exhibits. Based on local communication with nearby swarm members and the
actions that they do, an individual can evaluate and later generate an appropriate behavior that
will contribute to the group’s objective.
• A team of vehicles must communicate with its neighbors to agree on key pieces of
information that enable them to work together in a coordinated fashion.
• Challenges will be
• The problem is particularly challenging because communication channels have limited range
and experience fading and dropout.
• A consensus algorithm is a type of algorithmic rule that specifies the information exchange
between a bunch of agents and every one of its neighbors on specific network.
• The ability of a networked systems in a decentralized fashion, compute common estimates of
unknown variables, and agree on a common view of the system parameters.
• The need to agree on linear combinations of dynamically changing local parameters or signals
emerges in many applications in multi-agent systems and sensor networks.
This dynamic agreement problem can be cast as a dynamic average consensus problem.
 SCOPE
• In aerospace technology, it is envisioned that teams of flying robots may
effect satellite repair, and aircraft engine maintenance could be performed by thousands of
robots built into the engine eliminating the need for costly disassembly
for routine preventive maintenance. Environmental robots are to be used in pipe
inspection and pest eradication. While industrial applications include waste disposal and micro
cleaners. Ship maintenance and ocean cleaning could be performed
by hundreds of underwater robots designed to remove debris from hulls and ocean
floors
Some researchers envision microsurgical robots that could be injected into
the body by the hundreds designed to perform specific manipulation tasks without the need for
conventional surgical techniques," writes Kube [208] (p. 17). Most
of these applications require miniaturization!
PROBLEM STATEMENT
Generally drone swarming technology can be a means to improve society way of living. It can
also analyzed and implemented by most sophisticated and modern algorism which will drive the
innovation that can be used to solve our most difficult problems and open up markets that will
elevate the drone industry [5].
what algorithms should be put into these robots? understanding the nature of
coordination in groups of simple agents is a first step toward implementing useful
multirobot systems.
The swarm is assumed to be of specified or fixed size with each particle located initially at
random locations in the multidimensional design space. Each particle is assumed to have two
characteristics: a position and a velocity. Each particle wanders around in the design space and
remembers the best position (in terms of the food source or objective function value) it has
discovered. The particles communicate information or good positions to each other and adjust
their individual positions and velocities based on the information received on the good positions.
• Generally all existing works related to swarm intelligence were derived from the group or
social behavior of animals or insects. These animals are naturally disorganized and solely
depends on the actions that other individual exhibits. Based on local communication with
nearby swarm members and the actions that they do, an individual can evaluate and later
generate an appropriate behavior that will contribute to the group’s objective.
 OBJECTIVE
• General objective
The main objective of this research paper is to identify and design different swarming patterns of
small scale unmanned aerial vehicles. Studying and presenting key results on theory and
applications of distributed consensus algorithm problems in networked systems.
• Specific objective
1. Present a cohesive overview of the applications of consensus problems.
2. Representing network of agents by using a directed graph.
3. Deriving linearized mathematical model of the quadcopter.
4. Identify best control algorithm to simulate the swarming process.
5. Applying those algorithms on the derived mathematical model in computer simulations.
6. Identify and simulate different swarming patterns.
7. develop a system of subsystems rather than a single system.