Modified Particle Swarm Optimization based Path Planning for Multi-Uav Formation

  title={Modified Particle Swarm Optimization based Path Planning for Multi-Uav Formation},
  author={Ankur Patley and Ashish Bhatt and Arnab Maity and Kaushik Das and Shashi Ranjan Kumar},
  journal={AIAA Scitech 2019 Forum},
Formation control of quad-rotor UAV via PIO
To control the attitude of quad-rotor UAVs, it is difficult to obtain a set of optimal solutions, and hence a PIO based algorithm with variable weight hybridization is proposed.
This paper analyses an experimental path planning performance between the Iterative Equilateral Space Oriented Visibility Graph (IESOVG) and conventional Visibility Graph (VG) algorithms in terms of
Multiple Waypoint Mobile Robot Path Planning Using Neighborhood Search Genetic Algorithms
A hybrid approach that allows GAs to combine both the advantages of GAs and local search algorithms is proposed that is able to get good results compared to other algorithms.


UAVs fleet control design using distributed particle swarm optimization: A leaderless approach
A distributed control approach of a fleet of Unmanned Aerial Vehicles based on a Leaderless strategy to get a set of UAVs to fly on a 2D plane while converging to a predefined spatial configuration around a rendezvous point.
Particle swarm optimization method for the control of a fleet of Unmanned Aerial Vehicles
This paper concerns a control approach of a fleet of Unmanned Aerial Vehicles (UAV) based on virtual leader, and the global proposed method is independent from the model or the control of a particular UAV.
Minimum snap trajectory generation and control for quadrotors
An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.
A particle swarm optimization algorithm based on orthogonal design
A hybrid algorithm for searching a complex domain space, by combining the PSO and orthogonal design, which has a better performance compared to existing methods, including five PSO algorithms and three evolutionary algorithms.
Flocking for multi-agent dynamic systems: algorithms and theory
In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We
Output Feedback Control of Relative Translation in a Leader-Follower Spacecraft Formation
We present a solution to the problem of tracking relative translation in a leader-follower spacecraft formation using feedback from relative position only. Three controller configurations are
Self-organizing formation algorithm for active elements
In this algorithm, an element generates virtual springs between the neighbor element based on information of how many other elements exist in the neighborhood with a certain radius, and this kind of algorithm gives a new principle of self-organizing formation, and its simplicity will be useful for the design ofSelf-assembling nano machines in future.
Trajectory design for formations of robots by kinetic energy shaping
  • C. Belta, Vijay R. Kumar
  • Engineering
    Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
  • 2002
The optimal motions generated on the manifolds of rigid body displacements in 3D space or in plane, and the uniform rectilinear motion of each robot corresponding to a totally uncorrelated approach are particular cases of the general treatment.
Formation constrained multi-agent control
The main theorem states that under a bounded tracking error assumption, the method stabilizes the formation error and is illustrated by applying it to rigid body constrained motions, as well as to mobile manipulation.