Using Lazy Agents to Improve the Flocking Efficiency of Multiple UAVs

Abstract

A group of agents can form a flock using the augmented Cucker-Smale (C-S) model. The model autonomously aligns them to a common velocity and maintains a relative distance among the agents in a distributed manner by sharing the information among neighbors. This paper introduces the concept of inactiveness to the augmented C-S model for improving the flocking performance. It involves controlling the energy and convergence time required to form a stable flock. Inspired by the natural world where a few lazy (or inactive) workers are helpful to the group performance in social insect colonies. In this study, we analyzed different levels of inactiveness as a degree of control input effectiveness for multiple fixed-wing UAVs in the flocking algorithm. To find the appropriate inactiveness level for each flock member, the particle swarm optimization-based approach is used as the first step, based on the initial condition of the flock.However, as the significant computational burden may cause difficulties in implementing the optimization-based approach in real time, we also propose a

Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation

“…A group of agents can form a swarm using the extended Cooker-Smale (C-S) model [8]. Song et al [9] analyzed various levels of inactivity as the degree of control efficiency for several UAVs in the flocking algorithm. In [9], a heuristic approach of adaptive inactivity was proposed, which adaptively changes the inactivity level of selected agents in accordance with their position and direction relative to the flock center.…”

“…Song et al [9] analyzed various levels of inactivity as the degree of control efficiency for several UAVs in the flocking algorithm. In [9], a heuristic approach of adaptive inactivity was proposed, which adaptively changes the inactivity level of selected agents in accordance with their position and direction relative to the flock center. Zhou and Chen [10] used a semi-global consensus leader-following approach in which the control inputs of the leader and slave agents were bounded.…”