Bansal, Jagdish Chand and Sethi, Nikhil and Anicho, Ogbonnaya and Nagar, Atulya K. (2022) Drone Flocking Optimization using NSGA-II and Principal Component Analysis. Swarm Intelligence, 17. pp. 63-87. ISSN 1935-3812
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Abstract
Individual agents in natural systems like flocks of birds or schools offish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone swarms to solve problems in defense, agriculture, industrial automation, and humanitarian relief is an emerging technology. However, flocking of aerial robots while maintaining multiple objectives, like collision avoidance, high speed etc., is still a challenge. This paper proposes optimized flocking of drones in a confined environment with multiple conflicting objectives. The considered objectives are collision avoidance (with each other and the wall), speed, correlation, and communication (connected and disconnected agents). Principal Component Analysis (PCA) is applied for dimensionality reduction and understanding the collective dynamics of the swarm. The control model is characterized
by 12 parameters which are then optimized using a multi-objective solver (NSGA-II). The obtained results are reported and compared with
that of the CMA-ES algorithm. The study is particularly useful as the proposed optimizer outputs a Pareto Front representing different types of swarms that can be applied to different scenarios in the real world.
| Item Type: | Article |
|---|---|
| Additional Information and Comments: | This is an accepted manuscript version of an article that was accepted for publication in Swarm Intelligence. The final, published version is available from: https://link.springer.com/article/10.1007/s11721-022-00216-x |
| Keywords: | Drone swarm, Multi-Objective Optimization, PCA, NSGA-II, Drone swarm simulator, Collective dynamics |
| Faculty / Department: | Faculty of Human and Digital Sciences > Mathematics and Computer Science |
| Depositing User: | Atulya Nagar |
| Date Deposited: | 09 Sep 2022 08:53 |
| Last Modified: | 26 Oct 2023 00:15 |
| URI: | https://hira.hope.ac.uk/id/eprint/3606 |
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