TY - GEN
T1 - An Adaptive Multi-clustered Scheme for Autonomous UAV Swarms
AU - Lakas, Abderrahmane
AU - Belkacem, Abdelkader Nasreddine
AU - Al Hassani, Shamsa
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - Swarm technology for autonomous unmanned aerial vehicles (UAVs) has gained popularity in the last few years due to their potential for civilian and military applications. Intelligent swarm systems are very efficient at solving group-level problems and their capability to accomplish complex missions with no or little human intervention. One of the most challenging problems is operating in environments with surrounding obstacles such as buildings, thus, often obstructing inter-UAV communication. A UAV swarm is required to maintain continuous communication between its members and preserve the stability of its formation while flying towards an ultimate goal. In this paper we propose MSCS, a new cooperative and adaptive scheme for multi-clustered autonomous UAV swarms. This schemes allows several UAVs operating in a swarm formation to coordinate their navigation and path planning operations by using an adaptive multi-clustered leader-follower approach. The swarm members follow a dynamically elected leader based on the UAV with best fit to lead the swarm towards the destination. The coordination of the UAVs is achieved through SBP (Swarm Broadcast Protocol), a single-hop broadcast UAV-to-UAV (U2U) communication protocol, which allows swarm members to exchange information about their current location and their local cluster leader. We present a set of performance results, which show that this scheme contributes efficiently at maintaining the swarm formation's stability at acceptable density and disconnection ratio.
AB - Swarm technology for autonomous unmanned aerial vehicles (UAVs) has gained popularity in the last few years due to their potential for civilian and military applications. Intelligent swarm systems are very efficient at solving group-level problems and their capability to accomplish complex missions with no or little human intervention. One of the most challenging problems is operating in environments with surrounding obstacles such as buildings, thus, often obstructing inter-UAV communication. A UAV swarm is required to maintain continuous communication between its members and preserve the stability of its formation while flying towards an ultimate goal. In this paper we propose MSCS, a new cooperative and adaptive scheme for multi-clustered autonomous UAV swarms. This schemes allows several UAVs operating in a swarm formation to coordinate their navigation and path planning operations by using an adaptive multi-clustered leader-follower approach. The swarm members follow a dynamically elected leader based on the UAV with best fit to lead the swarm towards the destination. The coordination of the UAVs is achieved through SBP (Swarm Broadcast Protocol), a single-hop broadcast UAV-to-UAV (U2U) communication protocol, which allows swarm members to exchange information about their current location and their local cluster leader. We present a set of performance results, which show that this scheme contributes efficiently at maintaining the swarm formation's stability at acceptable density and disconnection ratio.
KW - leader-follower
KW - multi-cluster
KW - swarm stability
KW - UAV swarm
UR - http://www.scopus.com/inward/record.url?scp=85089706012&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85089706012&partnerID=8YFLogxK
U2 - 10.1109/IWCMC48107.2020.9148449
DO - 10.1109/IWCMC48107.2020.9148449
M3 - Conference contribution
AN - SCOPUS:85089706012
T3 - 2020 International Wireless Communications and Mobile Computing, IWCMC 2020
SP - 1567
EP - 1572
BT - 2020 International Wireless Communications and Mobile Computing, IWCMC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Wireless Communications and Mobile Computing Conference, IWCMC 2020
Y2 - 15 June 2020 through 19 June 2020
ER -