Dynamic Aggregation Method for Target Enclosure Using Smoothed Particle Hydrodynamics Technique – An Implementation in Quadrotor Unmanned Aerial Vehicles (QUAV) Swarm –

Argel A. B; ala; Elmer P. Dadios

doi:10.20965/jaciii.2016.p0084

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JACIII Vol.20 No.1 pp. 84-91

doi: 10.20965/jaciii.2016.p0084

(2016)

Paper:

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Dynamic Aggregation Method for Target Enclosure Using Smoothed Particle Hydrodynamics Technique – An Implementation in Quadrotor Unmanned Aerial Vehicles (QUAV) Swarm –

Argel A. Bandala and Elmer P. Dadios

De La Salle University, Manila
2401 Taft Avenue, Manila 1004, Philippines

Received:

April 10, 2015

Accepted:

July 12, 2015

Online released:

January 19, 2016

Published:

January 20, 2016

Keywords:

swarm robotics, aggregation behavior, particle hydrodynamic, unmanned aerial vehicle

Abstract

This paper presents an aggregation behavior derived from fluid characteristics by adapting Smoothed Particle Hydrodynamics (SPH) Technique. The most basic behavior in a swarm-like system is aggregation. The essential requirement of a swarm is to aggregate or collect itself in proximity to a singular point in order to execute higher level swarm behaviors. The aggregation behavior is further put into use by initiating a near convergence status in a single target enclosing it by the swarm with a given specific distance by using different fluid containers. In this paper, there are three fluid containers each is introduced with different characteristics. These containers are plane, spherical and toroidal containers. Using computer simulations with different trials, the proponents were able to determine the accuracy of containing the swarm elements in a desirable area. Furthermore, the ability of the swarm to maintain collectiveness is tested. The experiment results showed that the plane fluid container yielded an accuracy of 84.88%. A spherical fluid container displayed an accuracy of 95.23%. And using toroidal particle container showed an accuracy of 92.44%.

Cite this article as:

A. Bandala and E. Dadios, “Dynamic Aggregation Method for Target Enclosure Using Smoothed Particle Hydrodynamics Technique – An Implementation in Quadrotor Unmanned Aerial Vehicles (QUAV) Swarm –,” J. Adv. Comput. Intell. Intell. Inform., Vol.20 No.1, pp. 84-91, 2016.

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References

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[2] L. Lindsey, D. Mellinger, and V. Kumar, “Construction with Quadrotor Teams,” Autonomous Robots, Vol.33, No.3, pp. 323-336, 2012.
[3] I. Navarro and F. Matia, “An Introduction to Swarm Robotics,” ISRN Robotics, pp. 1-10, 2013.
[4] E. Sahin, “Swarm Robotics: From Sources of Inspiration to Domains of Application,” Swarm Robotics, Sab 2004 Int. Workshop, pp. 10-20, 2004.
[5] A. A. Bandala, R. R. P. Vicerra, L. Gan Lim, and E. P. Dadios, “Swarming Algorithm for Unmanned Aerial Vehicle (UAV) Quadrotors – Swarm Behavior for Aggregation, Foraging, Formation, and Tracking –,” J. of Advanced Computational Intelligence and Intelligent Informatics, Vol.18, No.5, pp. 745-751, 2014.
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[7] M. Kubo, H. Sato, T. Yoshimura, and A. Yamaguchi, “Multiple Targets Enclosure by Robotic Swarm,” Robots and Autonomous Systems, Vol.62, pp. 1294-1304, 2014.
[8] R. R. McCune and G. R. Madey, “Swarm Control of UAVs for Cooperative Hunting with DDDAS,” Procedia Computer Science, Vol.18, pp. 2537-2544, 2013.
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[17] O. Soysal and E. Sahin, “A Macroscopic Model for Self-organized Aggregation in Swarm Robotic Systems,” Swarm Robotics, pp. 27-42, 2006.
[18] G. Beni, “From Swarm Intelligence to Swarm Robotics,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 1-9, 2004.
[19] E. Ugur, E. Oztop, and E. Sahin, “Goal Emulation and Planning in Perceptual Space Using Learned Affordances,” Robotics and Autonomous Systems, Vol.59, No.7-8, pp. 580-595, 2011.
[20] N. Ayanian, V. Kumar, and D. Koditschek, “Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints,” Robotics Research Springer Tracts in Advance Robotics, Vol.70, pp. 625-642, 2011.
[21] H. Hamann and H. Worn, “An Analytical and Spacial Model of Foraging in a Swarm Robots,” Swarm Robotics, pp. 43-55, 2006.
[22] K. Lerman, A. Martinoli, and A. Galstyan, “A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 143-152, 2004.
[23] L. C. Pimenta, G. A. Pereira, N. Michael, R. C. Mesquita, M. M. Bosque, l. Chaimowicz, and V. Kumar, “Swarm Coordination Based on Smoothed Particle Hydrodynamics Technique,” IEEE Trans. on Robotics, Vol.29, No.2, pp. 383-399, 2013.
[24] L. B. Lucy, “A Numerical Approach to the Testing of the Fission Hypothesis,” Astrono. J., Vol.82, No.12, pp. 1013-1024, 1977.
[25] R. A. Gingold and J. J. Monaghan, “Smoothed Particle Hydrodynamics – Theory and Application to Non-spherical Stars,” Monthly Notices of the Royal Astronomical Society, Vol.191, pp. 375-389, 1977.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. P. Valavanis, “Advances in Unmanned Aerial Vehicles,” Springer Netherlands, 2007.

[2] [2] L. Lindsey, D. Mellinger, and V. Kumar, “Construction with Quadrotor Teams,” Autonomous Robots, Vol.33, No.3, pp. 323-336, 2012.

[3] [3] I. Navarro and F. Matia, “An Introduction to Swarm Robotics,” ISRN Robotics, pp. 1-10, 2013.

[4] [4] E. Sahin, “Swarm Robotics: From Sources of Inspiration to Domains of Application,” Swarm Robotics, Sab 2004 Int. Workshop, pp. 10-20, 2004.

[5] [5] A. A. Bandala, R. R. P. Vicerra, L. Gan Lim, and E. P. Dadios, “Swarming Algorithm for Unmanned Aerial Vehicle (UAV) Quadrotors – Swarm Behavior for Aggregation, Foraging, Formation, and Tracking –,” J. of Advanced Computational Intelligence and Intelligent Informatics, Vol.18, No.5, pp. 745-751, 2014.

[6] [6] V. Gazi and K. M. Passino, “Swarm Coordination and Control Problems,” in Swarm Stability and Optimization, Springer, pp. 15-25, 2011.

[7] [7] M. Kubo, H. Sato, T. Yoshimura, and A. Yamaguchi, “Multiple Targets Enclosure by Robotic Swarm,” Robots and Autonomous Systems, Vol.62, pp. 1294-1304, 2014.

[8] [8] R. R. McCune and G. R. Madey, “Swarm Control of UAVs for Cooperative Hunting with DDDAS,” Procedia Computer Science, Vol.18, pp. 2537-2544, 2013.

[9] [9] E. cSahin, S. Girgin, L. Bayindir, and A. E. Turgut, “Swarm Robotics,” in Swarm Intelligence, Springer Berlin Heidelberg, pp. 87-100, 2008.

[10] [10] J. A. Rothermich, M. I. Ecemis, and P. Gaudiano, “Distributed Localization and Mapping with a Robotic Swarm,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 58-69, 2004.

[11] [11] D. Payton, R. Estkowski, and M. Howard, “Pheromone Robotics and the Logic of Virtual Pheromones,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 45-57, 2004.

[12] [12] Y. Altshuler, A. Bruckstein, and I. Wagner, “Cooperative Cleaners: A Study in Ant Robotics,” The Int. J. of Robotics Research, Vol.27, No.1, pp. 127-151, 2008.

[13] [13] G. Beni, “Order by Disordered Action in Swarms,” in Swarm Robotics, Springer Berlin Heidelberg, pp. 153-171, 2004.

[14] [14] P. Doherty, P. Haslum, F. Heintz, T. Merz, P. Nyblom, T. Persson, and B. Wingman, “A Distributed Architecture for Autonomous Unmanned Aerial Vehicle Experimentation,” Distributed Autonomous Robotic Systems, Vol.6, pp. 233-242, 2007.

[15] [15] S. Lacroix and G. Le Besnerais, “Issues in Cooperative Air/Ground Robotic Systems,” Roboics Research, Vol.66, pp. 421-432, 2010.

[16] [16] I. Maza and A. Ollero, “Multiple UAV Cooperative Searching Operation using Polygon Area Decomposition and Efficient Coverage Algorithms,” Distributed Autonomous Robotic Systems, Vol.6, pp. 221-230, 2007.

[17] [17] O. Soysal and E. Sahin, “A Macroscopic Model for Self-organized Aggregation in Swarm Robotic Systems,” Swarm Robotics, pp. 27-42, 2006.

[18] [18] G. Beni, “From Swarm Intelligence to Swarm Robotics,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 1-9, 2004.

[19] [19] E. Ugur, E. Oztop, and E. Sahin, “Goal Emulation and Planning in Perceptual Space Using Learned Affordances,” Robotics and Autonomous Systems, Vol.59, No.7-8, pp. 580-595, 2011.

[20] [20] N. Ayanian, V. Kumar, and D. Koditschek, “Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints,” Robotics Research Springer Tracts in Advance Robotics, Vol.70, pp. 625-642, 2011.

[21] [21] H. Hamann and H. Worn, “An Analytical and Spacial Model of Foraging in a Swarm Robots,” Swarm Robotics, pp. 43-55, 2006.

[22] [22] K. Lerman, A. Martinoli, and A. Galstyan, “A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems,” Swarm Robotics: Sab 2004 Int. Workshop, pp. 143-152, 2004.

[23] [23] L. C. Pimenta, G. A. Pereira, N. Michael, R. C. Mesquita, M. M. Bosque, l. Chaimowicz, and V. Kumar, “Swarm Coordination Based on Smoothed Particle Hydrodynamics Technique,” IEEE Trans. on Robotics, Vol.29, No.2, pp. 383-399, 2013.

[24] [24] L. B. Lucy, “A Numerical Approach to the Testing of the Fission Hypothesis,” Astrono. J., Vol.82, No.12, pp. 1013-1024, 1977.

[25] [25] R. A. Gingold and J. J. Monaghan, “Smoothed Particle Hydrodynamics – Theory and Application to Non-spherical Stars,” Monthly Notices of the Royal Astronomical Society, Vol.191, pp. 375-389, 1977.