Abstract
In this paper we present advances to our previously proposed coordination system for groups of unmanned aerial vehicles that provide a network backbone over mobile ground-based vehicles. Evolutionary algorithms are employed in order to evolve flying manoeuvres that position the aerial vehicles. The updates to the system include obstacle representation, a packing mechanism to permit efficient dynamic allocation of ground-based vehicles to their supporting aerial vehicles within large-scale environments, and changes to time synchronisation. The experimental results presented in this paper show that the system is able to adaptively form sparse formations that cover as many ground-based vehicles as possible, optimising the use of the available power.
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Giagkos, A., Tuci, E., Wilson, M.S. (2015). Advancing Evolutionary Coordination for Fixed-Wing Communications UAVs. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_14
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DOI: https://doi.org/10.1007/978-3-319-22416-9_14
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