VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence
文献类型：期刊论文
| 作者 | Li, Huanlin4; Cai, Yuwei4; Hong, Juncao4; Xu, Peng4 ; Cheng, Hui3; Zhu, Xiaomin2; Hu, Bingliang1; Hao, Zhifeng4; Fan, Zhun4
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| 刊名 | IEEE Robotics and Automation Letters
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| 出版日期 | 2023-03-01 |
| 卷号 | 8期号:3页码:1175-1182 |
| 关键词 | Aerial systems Perception and autonomy biologically-inspired robots swarm robotics |
| ISSN号 | 23773766 |
| DOI | 10.1109/LRA.2023.3236565 |
| 产权排序 | 4 |
| 英文摘要 | We present VG-Swarm, a practical and effective method for aerial robots dynamic encirclement, which consists of a vision-based gene regulatory network (V-GRN) and a visual perception module. For each flying robot deployed with the proposed method, the relative spatial positions of the surrounding robots, targets, and obstacles are first obtained by omnidirectional monocular vision. Then the proposed method is used to generate the concentration field within its own perception range according to the obtained position information. The agent individually calculates and selects an optimal moving direction in its concentration field, and finally stays on its selected encirclement pattern (a closed concentration contour around the target). As a result, a swarm of flying robots can emerge adaptive pattern formations to entrap the targets even without any communication and global information. We verify the effectiveness and robustness of the proposed method in various simulations and real-world experiments. © 2016 IEEE. |
| 语种 | 英语 |
| 出版者 | Institute of Electrical and Electronics Engineers Inc. |
| 源URL | [http://ir.opt.ac.cn/handle/181661/96335]  |
| 专题 | 西安光学精密机械研究所_光学影像学习与分析中心 |
| 作者单位 | 1.Xi'An Institute of Optics and Precision Mechanics, Shanxi; 710119, China 2.College of Systems Engineering, National University of Defense Technology Changsha, Hunan; 410073, China; 3.University of Sun Yat-Sen, School of Computer Science and Engineering, Guangdong; 510006, China; 4.University of Shantou, Key Lab of Digital Signal and Image Processing of Guangdong Province, College of Engineering, Guangdong; 515063, China; |
| 推荐引用方式 GB/T 7714 | Li, Huanlin,Cai, Yuwei,Hong, Juncao,et al. VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence[J]. IEEE Robotics and Automation Letters,2023,8(3):1175-1182. |
| APA | Li, Huanlin.,Cai, Yuwei.,Hong, Juncao.,Xu, Peng.,Cheng, Hui.,...&Fan, Zhun.(2023).VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence.IEEE Robotics and Automation Letters,8(3),1175-1182. |
| MLA | Li, Huanlin,et al."VG-Swarm: A Vision-Based Gene Regulation Network for UAVs Swarm Behavior Emergence".IEEE Robotics and Automation Letters 8.3(2023):1175-1182. |
入库方式： OAI收割
来源：西安光学精密机械研究所
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