Mosquito-inspired Swarming and Pursuit for Autonomous Rotorcraft

The long-term goal of this research is to design cooperative-control algorithms for autonomous vehicles inspired by the collective behaviors in animal groups. The specific research objectives of this dissertation are twofold: (1) to analyze and model the swarming and pursuit behaviors observed in the mating swarms of mosquitoes, and (2) to design mosquito-inspired control algorithms to perform swarming and pursuit with autonomous rotorcraft. The first part of this dissertation analyzes the reconstructed flight data of the malarial mosquito Anopheles gambiae to characterize the velocity-alignment interaction between male mosquitoes, who aggregate to form mating swarms and subsequently pursue a female mosquito. Both swarming and pursuit behaviors are represented using self-propelled particle models. The model is used together with tools from control theory to investigate the connection between velocity-alignment behavior and success in pursuit. The results of this research have a potential impact on vector-control methods for malaria, and are also utilized in the second part of this dissertation. The second part of this dissertation studies two types of pursuit problems inspired by the collective behavior in mosquito swarms. The first problem considers the strategy for a single pursuer chasing a single target. This problem has been studied extensively for the application to missile guidance and navigation. Here, we tailor the assumptions on the dynamics of the agents as well as the design criteria for the application to small and agile rotorcraft. The second pursuit problem incorporates the swarming behavior by considering a scenario in which multiple guardian vehicles are deployed to protect an area against fast intruders. We derive necessary and sufficient conditions for capturing the intruder. We also present swarming strategies to maximize the performance of the guardians, inspired by the random-oscillatory motion and the velocity-alignment behavior of male mosquitoes

Online Flocking Control of UAVs with Mean-Field Approximation

We present a novel approach to the formation controlling of aerial robot swarms that demonstrates the flocking behavior. The proposed method stems from the Unmanned Aerial Vehicle (UAV) dynamics; thus, it prevents any unattainable control inputs from being produced and subsequently leads to feasible trajectories. By modeling the inter-agent relationships using a pairwise energy function, we show that interacting robot swarms constitute a Markov Random Field. Our algorithm builds on the Mean-Field Approximation and incorporates the collective behavioral rules: cohesion, separation, and velocity alignment. We follow a distributed control scheme and show that our method can control a swarm of UAVs to a formation and velocity consensus with real-time collision avoidance. We validate the proposed method with physical and high-fidelity simulation experiments.Comment: To appear in the proceedings of IEEE International Conference on Robotics and Automation (ICRA), 202

Formation and organisation in robot swarms.

A swarm is defined as a large and independent collection of heterogeneous or homogeneous agents operating in a common environment and seemingly acting in a coherent and coordinated manner. Swarm architectures promote decentralisation and self-organisation which often leads to emergent behaviour. The emergent behaviour of the swarm results from the interactions of the swarm with its environment (or fellow agents), but not as a direct result of design. The creation of artificially simulated swarms or practical robot swarms has become an interesting topic of research in the last decade. Even though many studies have been undertaken using a practical approach to swarm construction, there are still many problems need to be addressed. Such problems include the problem of how to control very simple agents to form patterns; the problem of how an attractor will affect flocking behaviour; and the problem of bridging formation of multiple agents in connecting multiple locations. The central goal of this thesis is to develop early novel theories and algorithms to support swarm robots in. pattern formation tasks. To achieve this, appropriate tools for understanding how to model, design and control individual units have to be developed. This thesis consists of three independent pieces of research work that address the problem of pattern formation of robot swarms in both a centralised and a decentralised way.The first research contribution proposes algorithms of line formation and cluster formation in a decentralised way for relatively simple homogenous agents with very little memory, limited sensing capabilities and processing power. This research utilises the Finite State Machine approach.In the second research contribution, by extending Wilensky's (1999) work on flocking, three different movement models are modelled by changing the maximum viewing angle each agent possesses during the course of changing its direction. An object which releases an artificial potential field is then introduced in the centre of the arena and the behaviours of the collective movement model are studied.The third research contribution studies the complex formation of agents in a task that requires a formation of agents between two locations. This novel research proposes the use Of L-Systems that are evolved using genetic algorithms so that more complex pattern formations can be represented and achieved. Agents will need to have the ability to interpret short strings of rules that form the basic DNA of the formation

Emergent Behavior Development and Control in Multi-Agent Systems

Emergence in natural systems is the development of complex behaviors that result from the aggregation of simple agent-to-agent and agent-to-environment interactions. Emergence research intersects with many disciplines such as physics, biology, and ecology and provides a theoretical framework for investigating how order appears to spontaneously arise in complex adaptive systems. In biological systems, emergent behaviors allow simple agents to collectively accomplish multiple tasks in highly dynamic environments; ensuring system survival. These systems all display similar properties: self-organized hierarchies, robustness, adaptability, and decentralized task execution. However, current algorithmic approaches merely present theoretical models without showing how these models actually create hierarchical, emergent systems. To fill this research gap, this dissertation presents an algorithm based on entropy and speciation - defined as morphological or physiological differences in a population - that results in hierarchical emergent phenomena in multi-agent systems. Results show that speciation creates system hierarchies composed of goal-aligned entities, i.e. niches. As niche actions aggregate into more complex behaviors, more levels emerge within the system hierarchy, eventually resulting in a system that can meet multiple tasks and is robust to environmental changes. Speciation provides a powerful tool for creating goal-aligned, decentralized systems that are inherently robust and adaptable, meeting the scalability demands of current, multi-agent system design. Results in base defense, k-n assignment, division of labor and resource competition experiments, show that speciated populations create hierarchical self-organized systems, meet multiple tasks and are more robust to environmental change than non-speciated populations

Synchronous intercept strategies for a robotic defense-intrusion game with two defenders

We study the defense-intrusion game, in which a single attacker robot tries to reach a stationary target that is protected by two defender robots. We focus on the "synchronous intercept problem", where both robots have to reach the attacker robot synchronously to intercept it. Assume that the attacker robot has the control policy which is based on attraction to the target and repulsion from the defenders, two kinds of synchronous intercept strategies are proposed for the defense-intrusion game, introduced here as Attacker-oriented and Neutral-position-oriented. Theoretical analysis and simulation results show that: (1) the two strategies are able to generate different synchronous intercept patterns: contact intercept pattern and stable non-contact intercept pattern, respectively. (2) The contact intercept pattern allows the defender robots to intercept the attacker robot in finite time, while the stable non-contact intercept pattern generates a periodic attractor that prevents the attack robot from reaching the target for infinite time. There is potential to apply the insights obtained into defense-intrusion in real systems, including aircraft escort and the defense of military targets or territorial boundaries

Distributed Control for Collective Behaviour in Micro-unmanned Aerial Vehicles

Full version unavailable due to 3rd party copyright restrictions.The work presented herein focuses on the design of distributed autonomous controllers for collective behaviour of Micro-unmanned Aerial Vehicles (MAVs). Two alternative approaches to this topic are introduced: one based upon the Evolutionary Robotics (ER) paradigm, the other one upon flocking principles. Three computer simulators have been developed in order to carry out the required experiments, all of them having their focus on the modelling of fixed-wing aircraft flight dynamics. The employment of fixed-wing aircraft rather than the omni-directional robots typically employed in collective robotics significantly increases the complexity of the challenges that an autonomous controller has to face. This is mostly due to the strict motion constraints associated with fixed-wing platforms, that require a high degree of accuracy by the controller. Concerning the ER approach, the experimental setups elaborated have resulted in controllers that have been evolved in simulation with the following capabilities: (1) navigation across unknown environments, (2) obstacle avoidance, (3) tracking of a moving target, and (4) execution of cooperative and coordinated behaviours based on implicit communication strategies. The design methodology based upon flocking principles has involved tests on computer simulations and subsequent experimentation on real-world robotic platforms. A customised implementation of Reynolds’ flocking algorithm has been developed and successfully validated through flight tests performed with the swinglet MAV. It has been notably demonstrated how the Evolutionary Robotics approach could be successfully extended to the domain of fixed-wing aerial robotics, which has never received a great deal of attention in the past. The investigations performed have also shown that complex and real physics-based computer simulators are not a compulsory requirement when approaching the domain of aerial robotics, as long as proper autopilot systems (taking care of the ”reality gap” issue) are used on the real robots.EOARD (European Office of Aerospace Research & Development), euCognitio

UAV Optimal Cooperative Obstacle Avoidance and Target Tracking in Dynamic Stochastic Environments

Cette thèse propose une stratégie de contrôle avancée pour guider une flotte d'aéronefs sans pilote (UAV) dans un environnement à la fois stochastique et dynamique. Pour ce faire, un simulateur de vol 3D a été développé avec MATLAB® pour tester les algorithmes de la stratégie de guidage en fonctions de différents scénarios. L'objectif des missions simulées est de s'assurer que chaque UAV intercepte une cible ellipsoïdale mobile tout en évitant une panoplie d'obstacles ellipsoïdaux mobiles détectés en route. Les UAVs situés à l'intérieur des limites de communication peuvent coopérer afin d'améliorer leurs performances au cours de la mission. Le simulateur a été conçu de façon à ce que les UAV soient dotés de capteurs et d'appareils de communication de portée limitée. De plus, chaque UAV possède un pilote automatique qui stabilise l'aéronef en vol et un planificateur de trajectoires qui génère les commandes à envoyer au pilote automatique. Au coeur du planificateur de trajectoires se trouve un contrôleur prédictif à horizon fuyant qui détermine les commandes à envoyer à l'UAV. Ces commandes optimisent un critère de performance assujetti à des contraintes. Le critère de performance est conçu de sorte que les UAV atteignent les objectifs de la mission, alors que les contraintes assurent que les commandes générées adhèrent aux limites de manoeuvrabilité de l'aéronef. La planification de trajectoires pour UAV opérant dans un environnement dynamique et stochastique dépend fortement des déplacements anticipés des objets (obstacle, cible). Un filtre de Kalman étendu est donc utilisé pour prédire les trajectoires les plus probables des objets à partir de leurs états estimés. Des stratégies de poursuite et d'évitement ont aussi été développées en fonction des trajectoires prédites des objets détectés. Pour des raisons de sécurité, la conception de stratégies d'évitement de collision à la fois efficaces et robustes est primordiale au guidage d'UAV. Une nouvelle stratégie d'évitement d'obstacles par approche probabiliste a donc été développée. La méthode cherche à minimiser la probabilité de collision entre l'UAV et tous ses obstacles détectés sur l'horizon de prédiction, tout en s'assurant que, à chaque pas de prédiction, la probabilité de collision entre l'UAV et chacun de ses obstacles détectés ne surpasse pas un seuil prescrit. Des simulations sont présentées au cours de cette thèse pour démontrer l'efficacité des algorithmes proposés

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

Performativity and the Altermodernities: Occupy, Bodies and Time-Spaces

Abstract In the final months of 2010, a new global cycle of protests and social movements emerged that, as the following text willargue, has forced us to critically interrogate and transform the accepted ways in which theorists and researchers perceive the relation between aesthetics and politics, performativity and critical practice, modernity and its presupposed mimetic dynamics between the Global North and the Global South. These protest movements will be examined as various instances of the general category that we can call “the Occupy form.” The following research beginswith an overview of the cycle of struggles and protest that were born out of the global revolutions in 1968. After having provided the salient features of this moment of recent political history, this text moves on to considerations of the performative turn in both the arts as well as in politics, thereby allowing for a broader critique of Modernity and for a conceptualization of what one could call as altermodernities. — a category, which obliges the theorist-researcher to reconceive of the very notion of performativity in the process. The research also defines performative event and its aesthetics in contrast to other existing literature such as social performance theory, and it goes on to argue for an aesthetics whose function is to create the conditions for alternative subjectifications. As performative politics works on the social relations to envision and enact a future society in the present, the transformations in dominant spatio-temporality – a constituent part of relationality – as well as bodies – in-between which the social relationality emerges – will be examined. The processes and mechanisms of constructing and imagining collective bodies at the national level, and how performative politics disrupts such processes of homogenization will be also an important part of evaluating the impacts and effects of occupy movements as well as how these performative movements re-appropriated time and space; creating spatio-temporalities different from the established colonial and authoritarian linear progress-centered ones reproduced by the nation-state apparatuses, particularly in the West Asia and North Africa. It will be also argued that a paradigm of imitation and mimesis will come short of explaining the communication and dissemination of protests movement from Cairo to New York, from Istanbul to Madrid, thus proposing the idea of performative contagion as a model to rethink this communication. Although this research makes use of case studies, archived material, and author led interviews with artist-activists, all of which are related to the main subject of this thesis the occupy form of protests and its predecessors largely remains a theoretical endeavor to use performance and theatre studies in the socio-political field,drawing its insights from the tradition of the philosophers of immanence and the thinkers of community in 20th century

Modeling The Spatiotemporal Dynamics Of Cells In The Lung

Multiple research problems related to the lung involve a need to take into account the spatiotemporal dynamics of the underlying component cells. Two such problems involve better understanding the nature of the allergic inflammatory response to explore what might cause chronic inflammatory diseases such as asthma, and determining the rules underlying stem cells used to engraft decellularized lung scaffolds in the hopes of growing new lungs for transplantation. For both problems, we model the systems computationally using agent-based modeling, a tool that enables us to capture these spatiotemporal dynamics by modeling any biological system as a collection of agents (cells) interacting with each other and within their environment. This allows to test the most important pieces of biological systems together rather than in isolation, and thus rapidly derive biological insights from resulting complex behavior that could not have been predicted beforehand, which we can then use to guide wet lab experimentation. For the allergic response, we hypothesized that stimulation of the allergic response with antigen results in a response with formal similarity to a muscle twitch or an action potential, with an inflammatory phase followed by a resolution phase that returns the system to baseline. We prepared an agent-based model (ABM) of the allergic inflammatory response and determined that antigen stimulation indeed results in a twitch-like response. To determine what might cause chronic inflammatory diseases where the twitch presumably cannot resolve back to baseline, we then tested multiple potential defects to the model. We observed that while most of these potential changes lessen the magnitude of the response but do not affect its overall behavior, extending the lifespan of activated pro-inflammatory cells such as neutrophils and eosinophil results in a prolonged inflammatory response that does not resolve to baseline. Finally, we performed a series of experiments involving continual antigen stimulation in mice, determining that there is evidence in the cytokine, cellular and physiologic (mechanical) response consistent with our hypothesis of a finite twitch and an associated refractory period. For stem cells, we made a 3-D ABM of a decellularized scaffold section seeded with a generic stem cell type. We then programmed in different sets of rules that could conceivably underlie the cell\u27s behavior, and observed the change in engraftment patterns in the scaffold over selected timepoints. We compared the change in those patterns against the change in experimental scaffold images seeded with C10 epithelial cells and mesenchymal stem cells, two cell types whose behaviors are not well understood, in order to determine which rulesets more closely match each cell type. Our model indicates that C10s are more likely to survive on regions of higher substrate while MSCs are more likely to proliferate on regions of higher substrate