Cybulski Piotr, Zieliński Zbigniew
Faculty of Cybernetics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland.
Sensors (Basel). 2021 Jan 17;21(2):622. doi: 10.3390/s21020622.
Recently, there has been a fairly rapid increase in interest in the use of UAV swarms both in civilian and military operations. This is mainly due to relatively low cost, greater flexibility, and increasing efficiency of swarms themselves. However, in order to efficiently operate a swarm of UAVs, it is necessary to address the various autonomous behaviors of its constituent elements, to achieve cooperation and suitability to complex scenarios. In order to do so, a novel method for modeling UAV swarm missions and determining behavior for the swarm elements was developed. The proposed method is based on bigraphs with tracking for modeling different tasks and agents activities related to the UAV swarm mission. The key finding of the study is the algorithm for determining all possible behavior policies for swarm elements achieving the objective of the mission within certain assumptions. The design method is scalable, highly automated, and problem-agnostic, which allows to incorporate it in solving different kinds of swarm tasks. Additionally, it separates the mission modeling stage from behavior determining thus allowing new algorithms to be used in the future. Two simulation case studies are presented to demonstrate how the design process deals with typical aspects of a UAV swarm mission.
最近，无论是在民用还是军事行动中，对无人机群使用的兴趣都有了相当迅速的增长。这主要是由于成本相对较低、灵活性更高以及无人机群本身效率不断提高。然而，为了有效地操作无人机群，有必要解决其组成元素的各种自主行为，以实现合作并适应复杂场景。为此，开发了一种用于对无人机群任务进行建模并确定群元素行为的新方法。所提出的方法基于带有跟踪功能的双图，用于对与无人机群任务相关的不同任务和代理活动进行建模。该研究的关键发现是一种算法，用于在某些假设下确定群元素实现任务目标的所有可能行为策略。该设计方法具有可扩展性、高度自动化且与问题无关，这使得它能够被纳入解决不同类型的群任务中。此外，它将任务建模阶段与行为确定分开，从而允许未来使用新的算法。给出了两个仿真案例研究，以展示设计过程如何处理无人机群任务的典型方面。
