scholarly journals Speeding Up Velocity Consensus Control with Small World Communication Topology for Unmanned Aerial Vehicle Swarms

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2547
Author(s):  
Xiang Ji ◽  
Wanpeng Zhang ◽  
Shaofei Chen ◽  
Junren Luo ◽  
Lina Lu ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Matrix Theory ◽  
Small World ◽  
Analytical Framework ◽  
Convergence Speed ◽  
Communication Cost ◽  
Algebraic Connectivity ◽  
Small World Network ◽  
Network Characteristics ◽  
Aerial Vehicle

This study addressed a problem of rapid velocity consensus within a swarm of unmanned aerial vehicles. Our analytical framework was based on tools using matrix theory and algebraic graph theory. We established connections between algebraic connectivity and the speed of converging on a velocity. The relationship between algebraic connectivity and communication cost was established. To deal with the trade-off among algebraic connectivity, convergence speed and communication cost, we propose a distributed small world network construction method. The small world network characteristics expedite the convergence speed toward consensus in the unmanned aerial vehicle swarm. Eventually, our method greatly sped up the consensus velocities in the unmanned aerial vehicle swarms at a lower communication cost than other methods required.

scholarly journals Heuristic Q-learning based on experience replay for three-dimensional path planning of the unmanned aerial vehicle

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041987902 ◽  
Author(s):  
Ronglei Xie ◽  
Zhijun Meng ◽  
Yaoming Zhou ◽  
Yunpeng Ma ◽  
Zhe Wu
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Learning Algorithm ◽  
Three Dimensional ◽  
Convergence Speed ◽  
Average Reward ◽  
Heuristic Function ◽  
Experience Replay ◽  
Aerial Vehicle

In order to solve the problem that the existing reinforcement learning algorithm is difficult to converge due to the excessive state space of the three-dimensional path planning of the unmanned aerial vehicle, this article proposes a reinforcement learning algorithm based on the heuristic function and the maximum average reward value of the experience replay mechanism. The knowledge of track performance is introduced to construct heuristic function to guide the unmanned aerial vehicles’ action selection and reduce the useless exploration. Experience replay mechanism based on maximum average reward increases the utilization rate of excellent samples and the convergence speed of the algorithm. The simulation results show that the proposed three-dimensional path planning algorithm has good learning efficiency, and the convergence speed and training performance are significantly improved.

NEOCORTEX'S SMALL WORLD OF FRACTAL COUPLING

2007 ◽  
Vol 17 (10) ◽  
pp. 3409-3414 ◽  
Author(s):  
C. WAGNER ◽  
R. STOOP
Keyword(s):  
Analytical Approach ◽  
Probability Function ◽  
Nearest Neighbor ◽  
Small World ◽  
Small World Network ◽  
Information Propagation ◽  
Network Characteristics ◽  
Connectivity Probability ◽  
Neocortical Neurons ◽  
High Level

Biological neocortical neurons are arranged in a columnar clustered architecture. Using a mathematical model in which the clustering properties can be monitored by means of a connectivity probability function, we investigate the information propagation in the associated networks, by means of simulations and a semi-analytical approach. Our analysis demonstrates that for systems with n-nearest neighbor coupling, the information propagation increases linearly in the neighbor order n. For fractal coupling, shown to give rise to small-world network characteristics, in contrast, an enhanced dependence is found, that, in our model of the neocortex, quickly saturates at a high level, indicating the superiority of this network type.

Study on Fault Diagnosis of Planetary Gearbox in Unmanned Aerial Vehicle Using Multi sensor Data

2020 ◽  
Vol 20 (4) ◽  
pp. 332-342
Author(s):  
Hyung Jun Park ◽  
Seong Hee Cho ◽  
Kyung-Hwan Jang ◽  
Jin-Woon Seol ◽  
Byung-Gi Kwon ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Unmanned Aerial Vehicle ◽  
Sensor Data ◽  
Planetary Gearbox ◽  
Aerial Vehicle

Results of Spatial Structure of Atmosphere Radiation in a Spectral Range (1.5–2) µm Research

2018 ◽  
pp. 7-13
Author(s):  
Anton M. Mishchenko ◽  
Sergei S. Rachkovsky ◽  
Vladimir A. Smolin ◽  
Igor V . Yakimenko
Keyword(s):  
Spatial Structure ◽  
Unmanned Aerial Vehicle ◽  
Wavelength Range ◽  
Spectral Range ◽  
Near Ir ◽  
Optoelectronic Systems ◽  
Aerial Vehicle

Results of experimental studying radiation spatial structure of atmosphere background nonuniformities and of an unmanned aerial vehicle being the detection object are presented. The question on a possibility of its detection using optoelectronic systems against the background of a cloudy field in the near IR wavelength range is also considered.

Positioning the Angle of Attack Sensor on an Unmanned Aerial Vehicle Wing

2016 ◽  
Vol 3 (1) ◽  
pp. 25-33
Author(s):  
Amir Birjandi ◽  
◽  
Valentin Guerry ◽  
Eric Bibeau ◽  
Hamidreza Bolandhemmat ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Angle Of Attack ◽  
Aerial Vehicle

Fair Deployment of an Unmanned Aerial Vehicle Base Station for Maximal Coverage

2019 ◽  
Vol E102.B (10) ◽  
pp. 2014-2020
Author(s):  
Yancheng CHEN ◽  
Ning LI ◽  
Xijian ZHONG ◽  
Yan GUO
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Base Station ◽  
Aerial Vehicle
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