UAV-UGV-UMV Multi-Swarms for Cooperative Surveillance
Abstract
In this paper we present a surveillance system for early detection of escapers from a restricted area based on a new swarming mobility model called CROMM-MS (Chaotic Rössler Mobility Model for Multi-Swarms). CROMM-MS is designed for controlling the trajectories of heterogeneous multi-swarms of aerial, ground and marine unmanned vehicles with important features such as prioritising early detections and success rate. A new Competitive Coevolutionary Genetic Algorithm (CompCGA) is proposed to optimise the vehicles’ parameters and escapers’ evasion ability using a predator-prey approach. Our results show that CROMM-MS is not only viable for surveillance tasks but also that its results are competitive in regard to the state-of-the-art approaches.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Feb 19, 2021
- Source ID
- 10.3389/frobt.2021.616950
Entities
People
- Daniel H Stolfi
- Grégoire Danoy
- Matthias R Brust
- Pascal Bouvry
Organizations
- Office of Naval Research Global