Anticipation in collective motion of robot swarms

Boz, İhsan Caner
Recent technological advancements made the implementation of swarms of UAVs possible. As they face more complex situations each day, collective motion models rise in importance. In this thesis, a collective motion model for self-propelled agents with anticipative action is given. It is shown that using anticipated positions in the attraction-repulsion mechanism brings a new interaction term that depends on velocities. The noise-induced order-disorder phase transition of this model is compared with two other well-known collective motion models: Active-Elastic model and Vicsek model. The comparison shows that anticipation aligns the headings of the agents. Therefore, the anticipation horizon can be adjusted to help robot swarms accomplish certain tasks. For example; better braking performance and preventing pileup in case of a sudden stop, or squeezing through a narrow passage without losing order. Sensors used in the robot swarms are mostly position-based. Since velocity information is required for the anticipative model, a Kalman Filter that takes equations of motion into consideration is designed to improve the position measurements and supply velocity and heading information. Particle-based simulations are done for the proposed model with the designed filter. Then, the model and the filter are implemented in the Crazyswarm platform, which is used for flying a swarm of Bitcraze Crazyflie 2.x quadcopter UAVs. In the experiments, control commands of the agents are created by their own Kalman Filter, which uses noisy measurements and the motion model information. Experiments with the real UAVs show that the swarm is able to pass through a narrow passage with the proposed anticipative motion model.


Self-organized flocking in mobile robot swarms
Turgut, Ali Emre; Gökçe, Fatih; Şahin, Erol (2008-09-01)
In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading system (VHS) which uses a digital compass and a wireless communication module for sensing the relative headings of neighboring robots. We propose a behavi...
Detection of airport runways in optical satellite images
Zöngür, Uğur; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2009)
Advances in hardware and pattern recognition techniques, along with the widespread utilization of remote sensing satellites, have urged the development of automatic target detection systems. Automatic detection of airports is particularly essential, due to the strategic importance of these targets. In this thesis, a detection method is proposed for airport runways, which is the most distinguishing element of an airport. This method, which operates on large optical satellite images, is composed of a segmenta...
Efficiency-aware and energy-aware data collection via a UAV with limited-capacity battery in robotic wireless sensor networks
Gül, Ömer Melih; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2020-12-17)
This thesis investigates efficiency-aware and energy-aware data-collection problems by an unmanned aerial vehicle (UAV) with limited-capacity battery, in a clustered robot network. In each cluster, a cluster head (CH) robot allocates tasks to remaining robots and collects data from them. Firstly, we consider this problem by focusing on minimizing energy consumption of UAV coupled to minimum cost data collection from CH robots by visiting optimal portion of CH robots. UAV decides the CH robots to visit by co...
Coordinated guidance for multiple UAVs
Cakici, Ferit; Ergezer, Halit; Irmak, Ufuk; Leblebicioğlu, Mehmet Kemal (2016-05-01)
This paper addresses the path planning problem of multiple unmanned aerial vehicles (UAVs). The paths are planned to maximize collected amount of information from desired regions (DRs), while avoiding forbidden regions (FRs) and reaching the destination. This study focuses on maximizing collected information instead of minimizing total mission time, as in previous studies. The problem is solved by a genetic algorithm (GA) with the proposal of novel evolutionary operators. The initial populations are generat...
Autonomous Fruit Picking With a Team of Aerial Manipulators
Köse, Tahsincan; Ertekin Bolelli, Şeyda; Department of Computer Engineering (2021-9-7)
Manipulation is the ultimate capability for autonomous micro unmanned aerial vehicles (MAVs), which would enable a substantial number of novel use-cases. Precision agriculture is such a domain with plenty of practical problems that could utilize aerial manipulation, which is faster with respect to ground manipulation. Apple harvesting is the most prominent use case with ever-growing percentages in the overall apple production costs due to increasing imbalance between labor supply and demand. Moreover, conte...
Citation Formats
İ. C. Boz, “Anticipation in collective motion of robot swarms,” M.S. - Master of Science, Middle East Technical University, 2021.