Autonomous control laws for mobile robotic surveillance swarms

Author

Mullen, Robert J. ; Monekosso, Dorothy N. ; Barman, Sarah A. ; Remagnino, Paolo

Author_Institution

Digital Image Res. Centre, Kingston Univ., London, UK

fYear

2009

fDate

8-10 July 2009

Firstpage

1

Lastpage

6

Abstract

We investigate the use of artificial local forces governed by physics laws for the spatial formation and coordination of a swarm of VTOL UAVs for ground area surveillance applications. Varying parameter effects are investigated through simulation and a learning algorithm is introduced to optimise the swarms behaviour with respect to self-organising into the optimum formation for a given sized ROI to cover collectively.

Keywords

aerospace robotics; mobile robots; multi-robot systems; position control; remotely operated vehicles; surveillance; VTOL UAV; artificial local forces; autonomous control laws; ground area surveillance applications; learning algorithm; mobile robotic surveillance swarms; physics laws; swarm coordination; swarm spatial formation; Force control; Mobile robots; Orbital robotics; Particle swarm optimization; Physics computing; Robot kinematics; Satellites; Security; Stochastic processes; Surveillance;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence for Security and Defense Applications, 2009. CISDA 2009. IEEE Symposium on

Conference_Location

Ottawa, ON

Print_ISBN

978-1-4244-3763-4

Electronic_ISBN

978-1-4244-3764-1

Type

conf

DOI

10.1109/CISDA.2009.5356555

Filename

5356555