A Framework of Modeling and Simulation Based on Swarm Ontology for Autonomous Unmanned Systems

Abstract

For the emerging autonomous swarm technology, from the perspective of systems science and Systems Engineering (SE), there must be novel methodologies and elements to aggregate multiple systems into a group, which distinguish the general components with specific functions. Here, we expect to provide a presentation of their existence in swarm development processes. The inspiration for our approach originates from the integration of swarm ontology, multiparadigm modeling, multiagent systems, cyber-physical systems, etc. Therefore, we chose the model-driven architecture as a framework to provide a method of model representation across the multiple levels of abstraction and composition. The autonomous strategic mechanism was defined and formed in parallel with Concept of Operations (ConOps) analysis and systems design, so as to effectively solve the cognitive problem of emergence caused by nonlinear causation among individual and whole behaviors. Our approach highlights the use of model-based processes and their artifacts in the swarm mechanism to integrate operational and functional models, which means connecting the macro- and micro-aspects in formalism to synthesize a whole with its expected goals, and then to verify and validate within an L-V-C simulation environment.

A Ground-Risk-Map-Based Path-Planning Algorithm for UAVs in an Urban Environment with Beetle Swarm Optimization

“…In Figure 5, a i is the defined turning angle between two neighboring waypoints, WP i and WP i+1 , which is assumed to be positive all the time. Its value can be calculated by using the 2D coordinates of two sequential waypoints, as expressed in Equation (3). In this equation, the turning angle a i is denoted by the arctangent and would be kept positive from the beginning to the end in the proposed model.…”

“…Unmanned aerial vehicles (UAVs) have gained significant momentum in recent years, and their extensive uses have induced rapid growth in related research areas [1][2][3]. Currently, UAVs are used in a wide range of applications, both in civil and military fields.…”