Swarming Unmanned Air and Ground Systems for Surveillance and Base Protection

Sauter, John; Matthews, Robert; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

doi:10.2514/6.2009-1850

Cited by 25 publications

(11 citation statements)

References 16 publications

(16 reference statements)

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“…Another strand of bioinspired research is related to pheromone-based communication [26], [27]. Pheromones have been used in [28] to coordinate a swarm to for surveillance, reconnaissance, hazard detection, and path finding.…”

Section: A Swarm Modelsmentioning

confidence: 99%

Human Interaction With Robot Swarms: A Survey

Kolling

Walker

Chakraborty

et al. 2016

IEEE Trans. Human-Mach. Syst.

333

216

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Abstract-Recent advances in technology are delivering robots of reduced size and cost. A natural outgrowth of these advances are systems comprised of large numbers of robots that collaborate autonomously in diverse applications. Research on effective autonomous control of such systems, commonly called swarms, has increased dramatically in recent years and received attention from many domains, such as bioinspired robotics and control theory. These kinds of distributed systems present novel challenges for the effective integration of human supervisors, operators, and teammates that are only beginning to be addressed. This paper is the first survey of human-swarm interaction (HSI) and identifies the core concepts needed to design a human-swarm system. We first present the basics of swarm robotics. Then, we introduce HSI from the perspective of a human operator by discussing the cognitive complexity of solving tasks with swarm systems. Next, we introduce the interface between swarm and operator and identify challenges and solutions relating to human-swarm communication, state estimation and visualization, and human control of swarms. For the latter, we develop a taxonomy of control methods that enable operators to control swarms effectively. Finally, we synthesize the results to highlight remaining challenges, unanswered questions, and open problems for HSI, as well as how to address them in future works.Index Terms-Human-robot interaction (HRI), human-swarm interaction (HSI), multi-robot systems, swarm robotics.

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Section: A Swarm Modelsmentioning

confidence: 99%

Human Interaction With Robot Swarms: A Survey

Kolling

Walker

Chakraborty

et al. 2016

IEEE Trans. Human-Mach. Syst.

333

216

View full text Add to dashboard Cite

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“…Dorigo and colleagues [5] applied these mechanisms to many optimization problems including the traveling salesperson problem and the quadratic assignment problem. In robotics, these methods coordinate multiple vehicles [28,29,30].…”

Section: A Swarming Polyagentsmentioning

confidence: 99%

“…Indirect interaction through pheromones greatly multiples the number of alternative futures that this approach explores [24]. The polyagent model has been applied successfully to manufacturing scheduling and control [2], control of robotic vehicles [27,30], forecasting of urban combat [21], and reasoning over hierarchical task networks [3,23], among other problems. This model has four features that are useful in systems security applications.…”

Section: A Swarming Polyagentsmentioning

confidence: 99%

Swarming on Symbolic Structures: Guiding Self-Organizing Search with Domain Knowledge

Parunak¹

2011

2011 Eighth International Conference on Information Technology: New Generations

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Modern system-level security threats have a strongly biological flavor. They are highly distributed and decentralized, continuously evolve around countermeasures, and develop emergent high-level effects out of proportion to the individual efforts of which they are composed. Measures to respond to such threats need to share these characteristics, suggesting techniques such as artificial immune systems, genetic computation, and swarm intelligence. Among these techniques, swarm intelligence has predictive capabilities that are particularly attractive in a defensive setting. However, the most mature applications of these methods reason over manifolds (e.g., predicting movement on the surface of the earth). System security problems are constrained by domain knowledge that is most naturally represented in various symbolicstructures, yet symbolic reasoning is methodologically very different from swarming dynamics. This paper shows how to apply swarm intelligence to one particular kind of symbolic structure, a hierarchical task network (HTN), and illustrates the potential of this approach for dealing with problems in system security.

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“…When heterogeneous teams of unmanned systems are deployed, one of the most common configurations is a combination of unmanned aerial vehicles and unmanned ground vehicles (e.g. [9]). In these scenarios, the unmanned aerial vehicles take advantage of the mobility and elevation to provide intelligence to the deployed ground vehicles and guide them to areas of interest.…”

Section: Related Workmentioning

confidence: 99%

Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

et al. 2010

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This paper describes ongoing research by Georgia Tech into the challenges of tasking and controlling heterogonous teams of unmanned vehicles in mixed indoor/outdoor reconnaissance scenarios. We outline the tools and techniques necessary for an operator to specify, execute, and monitor such missions. The mission specification framework used for the purposes of intelligence gathering during mission execution are first demonstrated in simulations involving a team of a single autonomous rotorcraft and three ground-based robotic platforms. Preliminary results including robotic hardware in the loop are also provided.

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Swarming Unmanned Air and Ground Systems for Surveillance and Base Protection

Cited by 25 publications

References 16 publications

Human Interaction With Robot Swarms: A Survey

Human Interaction With Robot Swarms: A Survey

Swarming on Symbolic Structures: Guiding Self-Organizing Search with Domain Knowledge

Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

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