Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture
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Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture WU Wen-di(伍文迪)1, WU Yun-long(武云龙)2, 3, LI Jing-hua(李晶华)3, REN Xiao-guang(任小广)2, 3, SHI Dian-xi(史殿习)2, 3, TANG Yu-hua(唐玉华)1 1. State Key Laboratory of High Performance Computing (HPCL), College of Computer, National University of Defense Technology, Changsha 410073, China; 2. Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing 100071, China; 3. Tianjin Artificial Intelligence Innovation Center (TAIIC), Tianjin 300457, China © Central South University Press and Springer-Verlag GmbH Germany, part of Springer Nature 2020 Abstract: In this paper, we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles (UAVs) synchronously covers an area for monitoring the ground conditions. In this scenario, we adopt the leader-follower control mode and propose a modified Lyapunov guidance vector field (LGVF) approach for improving the precision of surveillance trajectory tracking. Then, in order to adopt to poor communication conditions, we propose a prediction-based synchronization method for keeping the formation consistently. Moreover, in order to adapt the multi-UAV system to dynamic and uncertain environment, this paper proposes a hierarchical dynamic task scheduling architecture. In this architecture, we firstly classify all the algorithms that perform tasks according to their functions, and then modularize the algorithms based on plugin technology. Afterwards, integrating the behavior model and plugin technique, this paper designs a three-layer control flow, which can efficiently achieve dynamic task scheduling. In order to verify the effectiveness of our architecture, we consider a multi-UAV traffic monitoring scenario and design several cases to demonstrate the online adjustment from three levels, respectively. Key words: prediction-based synchronization; dynamic task scheduling; hierarchical software architecture Cite this article as: WU Wen-di, WU Yun-long, LI Jing-hua, REN Xiao-guang, SHI Dian-xi, TANG Yu-hua. Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture [J]. Journal of Central South University, 2020, 27(9): 2614−2627. DOI: https://doi.org/10.1007/s11771-020-4486-8.
1 Introduction With the rapid development of artificial intelligence and automation technologies, numerous research contributions have been made to the evolution of robotics. Nowadays, various kinds of robots are also playing important roles in our social lives, e.g., data collection [1], field exploration [2]. Compared with the single-robot system, a system
consisting of multiple robots can largely improve the task performance by coordination, which is more suitable for challenging tasks and complex environment [3, 4]. In recent years, considerable research contributions have been made to the evolution of multi-robot systems (MRS), and this trend will continue in the coming decades [5]. Among various applications of MRS, surve
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