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Herowaree
Jun 28th, 2021 (edited)
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  1. 1. Introdução
  2.  
  3. Coordinated motion, also known as flocking, is a collective behavior that consists of a large group of individuals moving together towards the same target direction.
  4.  
  5. It is one of the collective behaviors studied in the field of swarm robotics and focuses on how to organize and coordinate the movement of a swarm of robots. By taking inspiration from social animals, swarm robotics aims to developing robotics systems that exhibit swarm intelligence features similar to those that characterize social animals. In particular, swarm robotics systems are meant to be robust, scalable and flexible. \cite{Brambilla2013}
  6.  
  7. The swarm robotics discipline usually favors the use of minimalistic robots, with little or no global information shared by swarm members (Bayindir). A plain set of rules at individual level can produce a large set of complex behaviors at the swarm level. The rules of controlling the individuals are abstracted from the cooperative behavior in the nature swarm. The swarm is distributed and de-centralized, and the system shows hight efficiency, paralelism, scalability and robustness. (Tan)
  8.  
  9.  
  10. # Decentralized control architecture (More robustness and scalability)
  11.  
  12. In a decentralized control architecture, the MAVs make their decisions locally (Copolla).
  13.  
  14.  
  15. The fact that each MAV needs to take its own decisions, and additionally, if the MAVs do not rely on external infrastructure, introduces a new layer of difficulty. However, this is also what brings new advantages: redundancy, scalability, and adaptability to changes (Copolla).
  16.  
  17. # Local or global sensing (Local > global - more scalability)
  18.  
  19. We the MAVs are flying outdoors, external positioning is typically achieved with a Global Navigation Satellite System (GNSS) (Copolla). However, to enable swarms to operate in any environment, one must eliminate the need for external sensors for state estimation (Chung).
  20.  
  21. The locality of interactions and communication, which might be seen as a limitation, has a beneficial effect on scalability and robustness of the system, and is thus generally preferred over the use of global communication and sensing (Bayindir).
  22.  
  23.  
  24. Actually, the use of global communications will lead to a significant decline in scalability and flexibility, as the communication cost is explode exponentially as the population grows. (Tan)
  25.  
  26. # Proximal and alignment control (Only proximal > proximal + alignment - no global knowledge requirement)
  27.  
  28.  
  29. #
  30.  
  31. The control of robotic swarms is envisioned to be fully distributed. The individual robots perceive and process their environment locally and then act accordingly without global awareness or direct awareness of the final goal of the swarm (Copolla).
  32.  
  33. For swarms featuring both local perception and distributed control, the highest numbers are currently in the single digits (Copolla).
  34.  
  35. Additionally, develop swarm robotic systems with decentralized control and local sensing is still an open challenge.
  36.  
  37. In this work, we focus on develop a decentralized flocking control for UAVs which does not required global knowledge or external computation and communication. We achieve a decentralized control architecture by making the global behavior emerging from local interations. For that, each UAV is responsible for estimate and execute the local action that leads to flocking. To do not required global knowlegde, the proposed method does not use an alignment control, only the proximal. The proximal control required the relative information of range and bearing of nearby neighbors for estimate an action. We obtain this information without external computation or communication using a new vision-based relative localization system that makes possible the position estimation of the other members using only onboard sensors.
  38.  
  39.  
  40. ##############################################
  41.  
  42. With a good set of cooperative rules, the individuals can complete the task without centralized controls which promises the scalability and flexibility of the swarm. (Tan)
  43.  
  44.  
  45.  
  46.  
  47. Local wireless communication
  48.  
  49. Need to keep inside de FOV
  50.  
  51.  
  52. Despite the fact that these numbers have been increasing in the last few years, they are still lower, as the operations are shifted away from external system and toward on-board perception and control (Copolla).
  53.  
  54. An early real-world demonstration of distributed flocking was achieved by Hauert et al. (2011) with a swarm of ten fixed wing MAVs. The more recent work by Vásárhelyi et al. (2018) (Copolla)
  55.  
  56. Chung et al. (2018) - A survey on aerial swarm robotics
  57.  
  58.  
  59.  
  60. On-board camera sensors can also be used to localize other members of the swarm. This can be used to enable distributed formation control without the need for any explicit communication between agents.
  61.  
  62.  
  63. Robustness: The swarm is robutst to the loss or failure of individuals robots.
  64.  
  65. Flexibility: The swarm can reconfigure to tackle different tasks.
  66.  
  67. Scalability: The swarm can grow and shrink in size dependeding on the needs of the global task.
  68.  
  69. In particular, swarm robotics systems are meant to be robust, scalable and flexible. Robutness is the ability to cope with loss of individuals, scalabilty is the ability to perform weel with differente groups sizes and flexibility is the ability to cope with a broad spectrum of different environments and tasks.
  70.  
  71.  
  72. Robustness is the
  73.  
  74.  
  75. Scalability is the ability to adjust the number of individuals to the task requirement without drastic changes in performance.
  76.  
  77.  
  78.  
  79. Robustness is the ability to deal with the loss or failure of individuals. In social animals, robustness is promoted by redundancy and the absence of a leader. Scalability is the ability to grow and shrink in size depending on the needs of the global task. The introduction or removal of individuals does not result in a drastic change in the swarm performance. Flexibility is the ability to reconfigure the swarm to tackle different tasks.
  80.  
  81. 1. Preciso enviar também o diploma de graduação? A graduação entra como especialização?
  82.  
  83. 2. Posso apenas enviar o e-mail de aceitação do artigo no ICUAS como documento comprobatório?
  84.  
  85. 3. O estágio docência conta como atividade de ensino?
  86.  
  87. 4. Classificação dos três artigos?
  88.  
  89. Self-Organized UAV Flocking Based on Proximal Control - A2
  90.  
  91. Multi-Robot Sensor Fusion Target Tracking with Observation Constraints - Evento Internacional
  92.  
  93. Kalman Filter with Dynamical Setting of Optimal Process Noise - A2
  94.  
  95.  
  96. # Centralized and decentralized control architecture
  97.  
  98. Centralized controls are . In other hand, decentralized controls
  99.  
  100. # Local or global sensing
  101.  
  102. # Proximal and alignment control
  103.  
  104.  
  105. The control of robotic swarms is envisioned to be fully distributed. The individual robots perceive and process their environment locally and then act accordingly without global awareness or direct awareness of the final goal of the swarm.
  106.  
  107. Develop swarm robotic systems with decentralized control and local sensing is still an open challenge.
  108.  
  109. In this work, we focus on develop a decentralized flocking control for UAVs which does not required global knowledge or external computation and communication. We obtain a decentralized control architecture by making the global behavior emerging from local interations. For that, each UAV is responsible for estimate and execute the action which leads to the flocking. To do not required global knowlegde, the proposed method does not use an alignment control, only the proximal. The proximal control required the relative information of range and bearing of nearby neighbors for estimate an action. We obtain this information without external computation or communication using a new vision-based relative localization system that makes possible the position estimation of the other members using only onboard sensors.
  110.  
  111.  
  112. 1. Introduction
  113.  
  114. % Essential knowlegde about the work subject
  115.  
  116. %% What is flocking and why should YOU care?
  117.  
  118. Coordinated motion, also known as flocking, is a collective behavior that consists of a large group of individuals moving together towards the same target direction. It can be observed in different species in nature and replicate this behavior using robots has been an active research topic inspired by how easily simples individuals with limited resources can achieve complex organizations.
  119.  
  120. The combination of this basic behavior with others can tackle a variety of complex real-world applications. For a group of autonomous robots, coordinated motion can be very useful as a way to navigate in an environment with limited or no collisions between robots (Brambilla).
  121.  
  122. %% How flocking and robots are put together?
  123.  
  124.  
  125.  
  126. 2. Motivation
  127.  
  128. %% What problems are still open in flocking with flying robots?
  129.  
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