Comparative Analysis of Different UAV Swarm Control Methods on Unmanned Farms

Agronomy, Год журнала: 2023, Номер 13(10), С. 2499 - 2499

Опубликована: Сен. 28, 2023

Unmanned farms employ a variety of sensors, automated systems, and data analysis techniques to enable fully intelligent management. This not only heightens agricultural production efficiency but also reduces the costs associated with human resources. As integral components unmanned farms’ automation UAVs have been widely adopted across various operational stages due their precision, high efficiency, environmental sustainability, simplicity operation. However, present-day technological advancement levels relevant policy regulations pose significant restrictions on in terms payload endurance, leading diminished task when single UAV is deployed over large areas. Accordingly, this paper aggregates analyzes research pertaining swarms from databases such as Google Scholar, ScienceDirect, Scopus, IEEE Xplorer, Wiley past decade. An initial overview presents current control methods for swarms, incorporating summary features, merits, drawbacks diverse techniques. Subsequently, drawing four main (cultivation, planting, management, harvesting), we evaluate application each stage provide an most advanced swarm technologies utilized therein. Finally, scrutinize analyze challenges concerns applications forward-looking insights into future developmental trajectory technology farming, objective bolstering performance, scalability, adoption rates settings.

Язык: Английский

---

Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments

IEEE Transactions on Robotics, Год журнала: 2023, Номер 39(6), С. 4785 - 4804

Опубликована: Авг. 15, 2023

Formation flight has a vast potential for aerial robot swarms in various applications. However, the existing methods lack capability to achieve fully autonomous large-scale formation dense environments. To bridge gap, we present complete system that effectively integrates real-world constraints into navigation. This article proposes differentiable graph-based metric quantify overall similarity error between formations. is invariant rotation, translation, and scaling, providing more freedom coordination. We design distributed trajectory optimization framework considers similarity, obstacle avoidance, dynamic feasibility. The decoupled make flights computationally feasible. improve elasticity of navigation highly constrained scenes, swarm reorganization method adaptively adjusts parameters task assignments by generating local goals. A novel agreement strategy called global-remap-local-replan formation-level path planner proposed this coordinate global planning optimizations.To validate method, comprehensive benchmarks simulations with other cutting-edge works terms adaptability, predictability, elasticity, resilience, efficiency. Finally, integrated palm-sized platforms onboard computers sensors, demonstrates its efficiency robustness achieving largest scale outdoor

Язык: Английский

---

Computational Intelligence Algorithms for UAV Swarm Networking and Collaboration: A Comprehensive Survey and Future Directions

IEEE Communications Surveys & Tutorials, Год журнала: 2024, Номер 26(4), С. 2684 - 2728

Опубликована: Янв. 1, 2024

Unmanned aerial vehicle (UAV) swarm networking and collaboration have significant prospects in both civilian military applications, due to its remarkable properties cooperative efficiency, reduced risks, operational cost. Traditional algorithms challenging issues of high computational complexity low efficiency UAV collaboration, while intelligence (CI) has attracted increasing attention since it advantages solving complex optimization problems. The swarms serves as an essential foundation for intelligent is a crucial means enhancing the performance systems. To date, extensive CI-based been proposed improve capabilities swarms, several relevant surveys also presented. However, existing either review or collaboration. best our knowledge, there no survey that simultaneously concentrates on In this survey, we provide comprehensive overview from six typical aspects including channel access, network routing, task assignment, path planning, search, jamming. More importantly, help researchers choose appropriate satisfy requirements different missions, classify into four categories, namely heuristic behavior search-based algorithms, policy design-based learning-based hybrid algorithms. Finally, discuss open future directions may influence research This new insights valuable references field.

Язык: Английский

---

UAV‐based simultaneous localization and mapping in outdoor environments: A systematic scoping review

Journal of Field Robotics, Год журнала: 2024, Номер 41(5), С. 1617 - 1642

Опубликована: Апрель 9, 2024

Abstract This study aims to investigate the current knowledge of unmanned aerial vehicle (UAV)‐based simultaneous localization and mapping (SLAM) in outdoor environments discuss challenges limitations this field. A literature search was conducted three online databases (Web Science, Scopus, IEEE) for articles published before October 2022 related UAV‐based SLAM. scoping review carried out identify key concepts applications, discover research gaps use algorithm‐oriented task‐oriented, open‐source studies. total 97 studies met criteria after conducting a two‐step screening by systematic method followed Preferred Reporting Items Systematic Reviews Meta‐Analyses. Among eligible studies, were classified into two main categories: task‐oriented The analysis revealed that majority focused on development implementation new algorithms algorithms. highlights significance diversity sensors utilized UAVs different tasks applications scenarios employ types sensors. evaluation is able show real results performance target compared with public data set simulation platform.

Язык: Английский

---

$D^{2}$SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm

IEEE Transactions on Robotics, Год журнала: 2024, Номер 40, С. 3445 - 3464

Опубликована: Янв. 1, 2024

Язык: Английский

---

TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous Swarms

IEEE INFOCOM 2022 - IEEE Conference on Computer Communications, Год журнала: 2024, Номер unknown, С. 1101 - 1110

Опубликована: Май 20, 2024

A heterogeneous micro aerial vehicles (MAV) swarm consists of resource-intensive but expensive advanced MAVs (AMAVs) and resource-limited cost-effective basic (BMAVs), offering opportunities in diverse fields.Accurate real-time localization is crucial for MAV swarms, current practices lack a low-cost, high-precision, solution, especially lightweight BMAVs.We find an opportunity to accomplish the task by transforming AMAVs into mobile infrastructures BMAVs.However, turning this insight practical system non-trivial due challenges location estimation with BMAVs' unknown errors resource allocation given coupled influential factors.This study proposes TransformLoc, new framework that transforms infrastructures, specifically designed low-cost resourceconstrained first design error-aware joint model perform intermittent BMAVs then proximity-driven adaptive grouping-scheduling strategy allocate resources dynamically.TransformLoc achieves collaborative, adaptive, suitable large-scale swarms.We implement TransformLoc on industrial drones validate its performance.Results show outperforms baselines including SOTA up 68% performance, motivating 60% navigation success rate improvement.

Язык: Английский

---

Safety-assured high-speed navigation for MAVs

Science Robotics, Год журнала: 2025, Номер 10(98)

Опубликована: Янв. 29, 2025

Micro air vehicles (MAVs) capable of high-speed autonomous navigation in unknown environments have the potential to improve applications like search and rescue disaster relief, where timely safe is critical. However, achieving autonomous, safe, MAV faces systematic challenges, necessitating reduced vehicle weight size for maneuvering, strong sensing capability detecting obstacles at a distance, advanced planning control algorithms maximizing flight speed while ensuring obstacle avoidance. Here, we present safety-assured aerial robot (SUPER), compact with 280-millimeter wheelbase thrust-to-weight ratio greater than 5.0, enabling agile cluttered environments. SUPER uses lightweight three-dimensional light detection ranging (LIDAR) sensor accurate, long-range detection. To ensure maintaining safety, introduced an efficient framework that directly plans trajectories using LIDAR point clouds. In each replanning cycle, two were generated: one known free spaces safety another both maximize speed. Compared baseline methods, this failure rates by 35.9 times flying faster half time. real-world tests, achieved flights speeds exceeding 20 meters per second, successfully avoiding thin navigating narrow spaces. represents milestone systems, bridging gap from laboratory research applications.

Язык: Английский

---

Swarm navigation of cyborg-insects in unknown obstructed soft terrain

Nature Communications, Год журнала: 2025, Номер 16(1)

Опубликована: Янв. 6, 2025

Cyborg insects refer to hybrid robots that integrate living with miniature electronic controllers enable robotic-like programmable control. These creatures exhibit advantages over conventional in adaption complex terrain and sustained energy efficiency. Nevertheless, there is a lack of literature on the control multi-cyborg systems. This research gap due difficulty coordinating movements cyborg system under presence insects' inherent individual variability their reactions input. Regarding this issue, we propose swarm navigation algorithm verify it experiments. advances robotics by integrating biological organisms theory develop intelligent autonomous systems for real-world applications. combine controllers, offering several robots. Here, authors an can navigate cyborgs from start predetermined goal unknown sandy obstacles hills.

Язык: Английский

---

Solar-powered shape-changing origami microfliers

Science Robotics, Год журнала: 2023, Номер 8(82)

Опубликована: Сен. 13, 2023

Using wind to disperse microfliers that fall like seeds and leaves can help automate large-scale sensor deployments. Here, we present battery-free change shape in mid-air vary their dispersal distance. We designed origami using bistable leaf-out structures uncovered an important property: A simple the of these causes two dramatically different falling behaviors. When unfolded flat, exhibit a tumbling behavior increases lateral displacement wind. folded inward, orientation is stabilized, resulting downward descent less influenced by To electronically transition between shapes, low-power electromagnetic actuator produces peak forces up 200 millinewtons within 25 milliseconds while powered solar cells. fabricated circuit directly on structure includes programmable microcontroller, Bluetooth radio, power-harvesting circuit, pressure estimate altitude, temperature sensor. Outdoor evaluations show our 414-milligram were able mid-air, travel 98 meters light breeze, wirelessly transmit data via 60 away, only power collected from sun.

Язык: Английский

---

Electrically active smart adhesive for a perching-and-takeoff robot

Science Advances, Год журнала: 2023, Номер 9(43)

Опубликована: Окт. 27, 2023

Perching-and-takeoff robot can effectively economize onboard power and achieve long endurance. However, dynamic perching on moving targets for a perching-and-takeoff is still challenging due to less autonomy dynamically land, tremendous impact during landing, weak contact adaptability surfaces. Here, self-sensing, impact-resistant, contact-adaptable based all-in-one electrically active smart adhesives proposed reversibly perch moving/static dry/wet surfaces energy. Thereinto, attachment structures with discrete pillars have different surfaces, stable adhesion, anti-rebound; sandwich-like artificial muscles lower weight, enhance damping, simplify control, fast adhesion switching (on-off ratio approaching ∞ in several seconds); the flexible pressure (0.204% per kilopascal)-and-deformation (force resolution, <2.5 millinewton) sensor enables robot's autonomy. Thus, equipped exhibits advantages of soft materials over their rigid counterparts promising application prospect targets.

Язык: Английский

---