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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: 2016 Ieee/rsj International Conference On Intelligent Robots And Systems (iros 2016) Título del capítulo: Self-organized UAV Traffic in Realistic Environments
Autores UNAM: CARLOS GERSHENSON GARCIA;
Autores externos: Idioma: Año de publicación: 2016Resumen:
We investigated different dense multirotor UAV traffic simulation
scenarios in open 2D and 3D space, under realistic environments with the
presence of sensor noise, communication delay, limited communication
range, limited sensor update rate and finite inertia. We implemented two
fundamental self-organized algorithms: one with constant direction and
one with constant velocity preference to reach a desired target. We
performed evolutionary optimization on both algorithms in five basic
traffic scenarios and tested the optimized algorithms under different
vehicle densities. We provide optimal algorithm and parameter selection
criteria and compare the maximal flux and collision risk of each
solution and situation. We found that i) different scenarios and
densities require different algorithmic approaches, i.e., UAVs have to
behave differently in sparse and dense environments or when they have
common or different targets; ii) a slower-is-faster effect is implicitly
present in our models, i.e., the maximal flux is achieved at densities
where the average speed is far from maximal; iii) communication delay is
the most severe destabilizing environmental condition that has a
fundamental effect on performance and needs to be taken into account
when designing algorithms to be used in real life.