Agent-based Simulation for UAV Swarm Mission Planning and Execution - - PowerPoint PPT Presentation

▶
agent based simulation for uav swarm mission planning and
SMART_READER_LITE
LIVE PREVIEW

Agent-based Simulation for UAV Swarm Mission Planning and Execution - - PowerPoint PPT Presentation

Nov 30, 2023 478 likes •699 views

Agent-based Simulation for UAV Swarm Mission Planning and Execution Yi Wei, Greg Madey, University of Notre Dame M. Brian Blake, University of Miami SpringSim13, San Diego, CA April 2013 Outline Introduction and Motivations Problem

slide-1
SLIDE 1

Agent-based Simulation for UAV Swarm Mission Planning and Execution

Yi Wei, Greg Madey, University of Notre Dame

  • M. Brian Blake, University of Miami

SpringSim’13, San Diego, CA April 2013

slide-2
SLIDE 2

Outline

  • Introduction and Motivations
  • Problem Definition
  • Technical Approaches and Evaluations
  • Conclusion and Future Work

2

slide-3
SLIDE 3

Introduction: Unmanned Airborne Vehicles

  • A UAV is an aircraft that do not require on-

board pilots.

  • Usually controlled remotely or by an

autonomous computer.

  • Cheaper than their piloted counterparts, but

also with limited capabilities.

3

slide-4
SLIDE 4

Applications of UAVs

4

journalism highway monitoring hunting real estate sale

slide-5
SLIDE 5

From single UAV to a swarm

  • Prices decrease while capabilities increase
  • UAV swarms for future airborne operations
  • Current control approaches have limited

scalability

  • New models and approaches required to fly the

swarm, not individual UAVs

5

slide-6
SLIDE 6

The Problem

Schedule missions onto a swarm of UAVs, monitor their execution, and make necessary adjustments.

6

slide-7
SLIDE 7

Mission Planning Example

T1 T2 T3 Mission Swarm

V1 V2 V3 V4

slide-8
SLIDE 8

Definitions

  • UAV: basic unit
  • Swarm: a set of UAVs
  • Task: simple, specific objective
  • Mission: set of interdependent tasks

8

slide-9
SLIDE 9

Agent-based Approach

  • A single Swarm Control Agent (SCA) for

mission planning

  • Multiple UAV Agents (UAs) for mission

scheduling

  • Agents communicate through messages

9

slide-10
SLIDE 10

Global-Local Hybrid Planning

  • SCA assigns tasks to different UAs based on

its global knowledge and other constraints

  • Each UA schedules new tasks based on local

state

  • UAs periodically update the SCA about their

status

10

slide-11
SLIDE 11

Message Types

  • 1. New mission
  • 2. New task
  • 3. Status request/return
  • 4. Task completion
  • 5. Task reassignment

11

slide-12
SLIDE 12

Different Scheduling Policies

  • First Come First Serve
  • Insertion
  • Traveling Salesman
  • Adaptive

12

slide-13
SLIDE 13

Simulation Program

  • Implemented as a Java multi-thread application
  • The SCA and all UAs are represented as

threads

  • Missions and the swarm are visualized during

execution

13

slide-14
SLIDE 14

14

slide-15
SLIDE 15

Simulation Result

15

0.2 0.4 0.6 0.8 1 100 200 300 400 500 Relative Performance Task Arrival Rate (steps/task) Insertion TSP Adaptive

slide-16
SLIDE 16

Simulation Result

16

0.05 0.1 0.15 0.2 0.25 0.3 50 100 150 200 250 300 350 400 450 500 Relative Performance Number of Tasks Insertion TSP Adaptive

slide-17
SLIDE 17

Conclusion

  • The adoption of swarm based UAV operations

require new control models and algorithms

  • An agent-based approach for swarm mission

planning is introduced

  • Global-local hybrid approach is employed to

facilitate planning process

17

slide-18
SLIDE 18

Future Work

  • 1. Incorporate more realistic scenarios, such as

UAV losing contact to the ground station

  • 2. Incorporate more task types and task

dependency types

  • 3. Development of an expressive mission

specification language

18

slide-19
SLIDE 19

Thank You!

Questions?

19