Swarming Uav Behaviors And Control

A swarm is defined as a collection of autonomous individuals relying on local sensing and reactive behaviors interacting such that a global behavior emerges from the interactions. The advantages of using a swarm over a more deliberate team are robustness to disturbances, cost effectiveness in construction/operation, and mission scalability. The UAV swarm is modeled as follows. The UAV swarm is homogeneous, except for a few specialists if needed. Each UAV only responds to local situations or threats based on the sensory inputs. The UAVs are controlled by a set of behavioral rules. Human controllers, either centralized or distributed, intervene only when necessary. To reduce the solution space when designing a mission, the following propositions are made: If each UAV\u27s low-level behaviors are properly designed, the swarm can exhibit proper collective low-level behaviors. The higher-level behaviors of the swarm can be the proper combination of sequences of low-level behaviors. This paper analyzes the hierarchy of the UAV behaviors, and uses the simulations to demonstrate those behaviors. Very simple bang-bang controls of the individual UAV motions are proven to make the swarm exhibits several higher-level behaviors