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Multi-swarm Infrastructure for Swarm Versus Swarm Experimentation

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 6))

Abstract

This paper builds on previous Naval Postgraduate School success with large, autonomous swarms of fixed-wing unmanned aerial vehicles (UAV) to provide infrastructure for the simultaneous operation of multiple swarms. Developed in support of an event fostering swarm capability development through competition, the online referee, or Arbiter, monitors and evaluates multiple independent but interacting swarms. This Arbiter provides sensor modeling for both swarms, evaluation of inter-swarm interaction, scoring and enforcement of competition rules, and graphical display of game status. Arbiter capability is demonstrated through live-fly experiments and software-in-the-loop simulation. The Arbiter is also used to evaluate swarm behaviors that are developed for air-to-air pursuit of an opposing swarm with results provided in this paper.

T. H. Chung, M. R. Clement and M. A. Day are Contributor to this work were performed while affiliated with the Naval Postgraduate School.

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Notes

  1. 1.

    The Arbiter does not provide safety-of-flight services. Collision and terrain avoidance, maneuvering limits, and other hazards must be implemented on the individual UAVs.

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Author information

Authors and Affiliations

  1. Naval Postgraduate School, Monterey, CA, USA

    Duane T. Davis & Michael R. Clement

  2. Defense Advanced Research Projects Agency, Arlington, VA, USA

    Timothy H. Chung

  3. Georgia Tech Research Institute, Atlanta, GA, USA

    Michael A. Day

Authors
  1. Duane T. Davis
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  2. Timothy H. Chung
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  3. Michael R. Clement
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  4. Michael A. Day
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Corresponding author

Correspondence to Duane T. Davis .

Editor information

Editors and Affiliations

  1. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK

    Roderich Groß

  2. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK

    Andreas Kolling

  3. School for Engineering of Matter, Transport and Energy (SEMTE), Arizona State University, Tempe, AZ, USA

    Spring Berman

  4. Massachusetts Institute of Technology, Cambridge, MA, USA

    Emilio Frazzoli

  5. ENAC, IIE, DIAL, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland

    Alcherio Martinoli

  6. Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  7. Wyss Institute for Biologically Inspired Engineering, Harvard University Wyss Institute for Biologically Inspired, Cambridge, MA, USA

    Melvin Gauci

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Davis, D.T., Chung, T.H., Clement, M.R., Day, M.A. (2018). Multi-swarm Infrastructure for Swarm Versus Swarm Experimentation. In: Groß, R., et al. Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 6. Springer, Cham. https://doi.org/10.1007/978-3-319-73008-0_45

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  • DOI: https://doi.org/10.1007/978-3-319-73008-0_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-73006-6

  • Online ISBN: 978-3-319-73008-0

  • eBook Packages: EngineeringEngineering (R0)

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