research-article

Evolving cooperative control on sparsely distributed tasks for UAV teams without global communication

Authors:

Gregory J. Barlow,

Stephen F. SmithAuthors Info & Claims

GECCO '08: Proceedings of the 10th annual conference on Genetic and evolutionary computation

Pages 177 - 184

https://doi.org/10.1145/1389095.1389125

Published: 12 July 2008 Publication History

Abstract

For some tasks, the use of more than one robot may improve the speed, reliability, or flexibility of completion, but many other tasks can be completed only by multiple robots. This paper investigates controller design using multi-objective genetic programming for a multi-robot system to solve a highly constrained problem, where multiple unmanned aerial vehicles (UAVs) must monitor targets spread sparsely throughout a large area. UAVs have a small communication range, sensor information is limited and noisy, monitoring a target takes an indefinite amount of time, and evolved controllers must continue to perform well even as the number of UAVs and targets changes. An evolved task selection controller dynamically chooses a target for the UAV based on sensor information and communication. Controllers evolved using several communication schemes were compared in simulation on problem scenarios of varying size, and the results suggest that this approach can evolve effective controllers if communication is limited to the nearest other UAV.

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Cited By

Obadan SWang Z(2019)A Multi-Objective Optimization Approach to Robot Localization of Single and Multiple Emission SourcesProcedia Manufacturing10.1016/j.promfg.2019.06.02035(755-761)Online publication date: 2019
https://doi.org/10.1016/j.promfg.2019.06.020
Pelosi MKopp CBrown M(2018)RANGE-LIMITED UAV TRAJECTORY USING TERRAIN MASKING UNDER RADAR DETECTION RISKApplied Artificial Intelligence10.1080/08839514.2012.71330826:8(743-759)Online publication date: 25-Dec-2018
https://dl.acm.org/doi/10.1080/08839514.2012.713308
Pelosi MBrown M(2017)Improved search paths for camera-equipped UAVS in wilderness search and rescue2017 IEEE Symposium Series on Computational Intelligence (SSCI)10.1109/SSCI.2017.8280972(1-8)Online publication date: Nov-2017
https://doi.org/10.1109/SSCI.2017.8280972
Show More Cited By

Index Terms

Evolving cooperative control on sparsely distributed tasks for UAV teams without global communication
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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cover image ACM Conferences

GECCO '08: Proceedings of the 10th annual conference on Genetic and evolutionary computation

July 2008

1814 pages

ISBN:9781605581309

DOI:10.1145/1389095

Conference Chair:
Conor Ryan
University of Limerick, Ireland
,
Editor:
Maarten Keijzer
Chordiant Software International B.V., The Netherlands

Copyright © 2008 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 12 July 2008

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GECCO08: Genetic and Evolutionary Computation Conference

July 12 - 16, 2008

GA, Atlanta, USA

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Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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Cited By

Obadan SWang Z(2019)A Multi-Objective Optimization Approach to Robot Localization of Single and Multiple Emission SourcesProcedia Manufacturing10.1016/j.promfg.2019.06.02035(755-761)Online publication date: 2019
https://doi.org/10.1016/j.promfg.2019.06.020
Pelosi MKopp CBrown M(2018)RANGE-LIMITED UAV TRAJECTORY USING TERRAIN MASKING UNDER RADAR DETECTION RISKApplied Artificial Intelligence10.1080/08839514.2012.71330826:8(743-759)Online publication date: 25-Dec-2018
https://dl.acm.org/doi/10.1080/08839514.2012.713308
Pelosi MBrown M(2017)Improved search paths for camera-equipped UAVS in wilderness search and rescue2017 IEEE Symposium Series on Computational Intelligence (SSCI)10.1109/SSCI.2017.8280972(1-8)Online publication date: Nov-2017
https://doi.org/10.1109/SSCI.2017.8280972
Ming ZLingling ZXiaohong SPeijun MYanhang Z(2015)Improved discrete mapping differential evolution for multi-unmanned aerial vehicles cooperative multi-targets assignment under unified modelInternational Journal of Machine Learning and Cybernetics10.1007/s13042-015-0364-38:3(765-780)Online publication date: 29-Apr-2015
https://doi.org/10.1007/s13042-015-0364-3
Ming ZLingling ZXiaohong SPeijun MYanhang Z(2014)A Cooperative Path Planning and Smoothing Algorithm for UAVs in Three Dimensional Environment2014 Fourth International Conference on Instrumentation and Measurement, Computer, Communication and Control10.1109/IMCCC.2014.64(274-278)Online publication date: Sep-2014
https://doi.org/10.1109/IMCCC.2014.64
Moore JMcKinley P(2013)Evolution of an amphibious robot with passive joints2013 IEEE Congress on Evolutionary Computation10.1109/CEC.2013.6557733(1443-1450)Online publication date: Jun-2013
https://doi.org/10.1109/CEC.2013.6557733
Agogino AHolmesParker CTumer KMoore J(2012)Evolving large scale UAV communication systemProceedings of the 14th annual conference on Genetic and evolutionary computation10.1145/2330163.2330306(1023-1030)Online publication date: 7-Jul-2012
https://dl.acm.org/doi/10.1145/2330163.2330306
Mcgill KTaylor S(2011)Robot algorithms for localization of multiple emission sourcesACM Computing Surveys10.1145/1922649.192265243:3(1-25)Online publication date: 29-Apr-2011
https://dl.acm.org/doi/10.1145/1922649.1922652

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