UAV swarm control strategies: A case study for leak detection

Rafael Braga Da Silva 1 Roberto C Da Silva 1 Alexandre Carlos Brandao-Ramos 2 Felix Antonio Claudio Mora-Camino 3
1 Federal University of Itajuba
2 UNIFEI
3 ENAC - Ecole Nationale de l'Aviation Civile
Abstract : Disasters involving gas leakage can cause serious damage to properties, to the environment and even endanger human lives. In these situations it is very important to locate the source of gas leakage as fast as possible. A swarm of robots is a solution specially efficient in missions involving exploration and search in unknown environments. This work proposes a strategy using behavioral rules and an idea inspired by the Particle Swarm Optimization algorithm to control a group of Unmanned Aerial Vehicles (UAVs) while searching for the source of a gas leakage. The solution was implemented in C++ using the ROS platform and was tested in simulations using the Pixhawk SITL simulator. Results show that after some time the UAVs converge to the source of leaking gas.
Keywords : Collision Avoidance Robot Swarm Unmanned Aerial Vehicles ROS Particle Swarm Optimization
Type de document :
Communication dans un congrès
ICAR 2017, 18th International Conference on Advanced Robotics, Jul 2017, Hong Kong, China. IEEE, pp.ISBN: 978-1-5386-3158-4 2017, 〈10.1109/ICAR.2017.8023514〉
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https://hal-enac.archives-ouvertes.fr/hal-01626533
Contributeur : Laurence Porte <>
Soumis le : lundi 30 octobre 2017 - 21:02:57
Dernière modification le : jeudi 16 novembre 2017 - 09:57:18

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Rafael Braga Da Silva, Roberto C Da Silva, Alexandre Carlos Brandao-Ramos, Felix Antonio Claudio Mora-Camino. UAV swarm control strategies: A case study for leak detection. ICAR 2017, 18th International Conference on Advanced Robotics, Jul 2017, Hong Kong, China. IEEE, pp.ISBN: 978-1-5386-3158-4 2017, 〈10.1109/ICAR.2017.8023514〉. 〈hal-01626533〉

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