A robot swarm assisting a human fire-fighter

Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

GUARDIANS final report part 1 (draft): a robot swarm assisting a human fire fighter

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist re ghters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting re ghters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

A macroscopic analytical model of collaboration in distributed robotic systems

In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149-171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased

Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking

Current strategies employed for maritime target search and tracking are primarily based on the use of agents following a predetermined path to perform a systematic sweep of a search area. Recently, dynamic Particle Swarm Optimization (PSO) algorithms have been used together with swarming multi-robot systems (MRS), giving search and tracking solutions the added properties of robustness, scalability, and flexibility. Swarming MRS also give the end-user the opportunity to incrementally upgrade the robotic system, inevitably leading to the use of heterogeneous swarming MRS. However, such systems have not been well studied and incorporating upgraded agents into a swarm may result in degraded mission performances. In this paper, we propose a PSO-based strategy using a topological k-nearest neighbor graph with tunable exploration and exploitation dynamics with an adaptive repulsion parameter. This strategy is implemented within a simulated swarm of 50 agents with varying proportions of fast agents tracking a target represented by a fictitious binary function. Through these simulations, we are able to demonstrate an increase in the swarm's collective response level and target tracking performance by substituting in a proportion of fast buoys.Comment: Accepted for IEEE/MTS OCEANS 2020, Singapor

Refining self-propelled particle models for collective behaviour

Swarming, schooling, flocking and herding are all names given to the wide variety of collective behaviours exhibited by groups of animals, bacteria and even individual cells. More generally, the term swarming describes the behaviour of an aggregate of agents (not necessarily biological) of similar size and shape which exhibit some emergent property such as directed migration or group cohesion. In this paper we review various individual-based models of collective behaviour and discuss their merits and drawbacks. We further analyse some one-dimensional models in the context of locust swarming. In specific models, in both one and two dimensions, we demonstrate how varying the parameters relating to how much attention individuals pay to their neighbours can dramatically change the behaviour of the group. We also introduce leader individuals to these models with the ability to guide the swarm to a greater or lesser degree as we vary the parameters of the model. We consider evolutionary scenarios for models with leaders in which individuals are allowed to evolve the degree of influence neighbouring individuals have on their subsequent motion

AN ANALYSIS OF HOW THE U.S. GOVERNMENT CAN EFFECTIVELY TACKLE SUPPLY CHAIN BARRIERS TO SCALE UP THE LOW COST UNMANNED AERIAL VEHICLE (UAV) SWARMING TECHNOLOGY (LOCUST) PROGRAM

The LOCUST program is a scalable system of inexpensive swarming unmanned aerial vehicles to provide disruptive capability in contested environments against anti-area access denial defenses, enabling manned strike operations and localized landing site superiority with reduced cost, risk, and operator launch and workload. Our research and analysis will emphasize the challenges of moving from a U.S. Special Operations Command (USSOCOM) effort to a large program of record. Specific supply chain concerns that will be addressed include: 1) DOD organizational structure; 2) service-specific objectives and currently operating platforms; 3) requirements generation and related procurements to include production and quality challenges; 4) safety and quality assurance standards; 5) lead times, inventory plans, and throughput to include supplier base considerations and consolidations; and 6) latest evolving technologies and continuous improvement principles. Our team will utilize the Define, Measure, Analyze, Improve, Control (DMAIC) evaluative methodology that focuses on data-driven improvement cycles to better optimize process, design and results. Our results and recommendations highlighted multiple strategies that the Office of Naval Research (ONR) must focus on when developing the LOCUST supply chain. These conclusions and findings address both current supply chain development opportunities for the LOCUST program, as well as where the program must focus its efforts in the future.http://archive.org/details/ananalysisofhowt1094563516Civilian, Department of the NavyCivilian, Department of the ArmyCivilian, Department of the ArmyApproved for public release; distribution is unlimited

Drone Swarms in Adversarial Environment

Drones are unmanned aerial vehicles (UAVs) operated remotely with the help of cameras, GPS, and on-device SD cards. These are used for many applications including civilian as well as military. On the other hand, drone swarms are a fleet of drones that work together to achieve a special goal through swarm intelligence approaches. These provide a lot of advantages such as better coverage, accuracy, increased safety, and improved flexibility when compared to a single drone. However, the deployment of such swarms in an adversarial environment poses significant challenges. This work provides an overview of the current state of research on drone swarms in adversarial environments including algorithms for swarming formation of robotic attack drones with their strengths and weaknesses as well as the attack strategies used by attackers. This work also outlines the common adversarial counter-attack methods to disrupt drone attacks consisting of detection and destruction of drone swarms along with their drawbacks, a counter UAV defense system, and splitting large-scale drones into unconnected clusters. After identifying several challenges, an optimized algorithm is proposed to split the large-scale drone swarms more efficiently

A Hybrid Metaheuristic Algorithm for Stop Point Selection in Wireless Rechargeable Sensor Network

A wireless rechargeable sensor network (WRSN) enables charging of rechargeable sensor nodes (RSN) wirelessly through a mobile charging vehicle (MCV). Most existing works choose the MCV’s stop point (SP) at random, the cluster’s center, or the cluster head position, all without exploring the demand from RSNs. It results in a long charging delay, a low charging throughput, frequent MCV trips, and more dead nodes. To overcome these issues, this paper proposes a hybrid metaheuristic algorithm for stop point selection (HMA-SPS) that combines the techniques of the dragonfly algorithm (DA), firefly algorithm (FA), and gray wolf optimization (GWO) algorithms. Using FA and GWO techniques, DA predicts an ideal SP using the run-time metrics of RSNs, such as energy, delay, distance, and trust factors. The simulated results demonstrate faster convergence with low delay and highlight that more RSNs can be recharged with fewer MCV visits, further enhancing energy utilization, throughput, network lifetime, and trust factor