UAV Swarms Behavior Modeling Using Tracking Bigraphical Reactive Systems.

Piotr Cybulski,Zbigniew Zieliński

doi:10.3390/s21020622

Piotr Cybulski, Zbigniew Zieliński

Open Access

https://doi.org/10.3390/s21020622

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Abstract

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.

Highlights

Unmanned aerial vehicles (UAVs) have been increasingly used both in the civilian and military spheres, mainly due to their relatively low cost, flexibility, and the elimination of the need for on-board pilot support
The result of our work is a method of design robotic swarms
We will present this method with a use of two scenarios related to unmanned aerial vehicles (UAVs) swarms

Summary

Introduction

Unmanned aerial vehicles (UAVs) have been increasingly used both in the civilian and military spheres, mainly due to their relatively low cost, flexibility, and the elimination of the need for on-board pilot support. The use of UAV swarms is of particular importance, especially with increased autonomy of its elements. It is expected [1]. That autonomous UAV swarms will become a key element of future military operations, as well as civilian applications including security, reconnaissance, intrusion detection, and support Search and Rescue (SAR) or Disaster Recovery (DR) operations. UAV swarms provide an indispensable platform for building the situation awareness in such cases.

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