Simulation and platform tools to develop safe flock of UAVs: a CPS application-driven research
Identifieur interne : 000B43 ( Main/Exploration ); précédent : 000B42; suivant : 000B44Simulation and platform tools to develop safe flock of UAVs: a CPS application-driven research
Auteurs : Laurent Ciarletta [France] ; Adrien Guenard [France] ; Yannick Presse [France] ; Virginie Galtier [France] ; Ye-Qiong Song [France] ; Jean-Christophe Ponsart [France] ; Samir Aberkane [France] ; Didier Theilliol [France]Source :
Abstract
Autonomous formation flying (flocking) of UAVs requires coordination of efforts and solutions in multiple research fields (robotics, wireless sensor networks to name a few). The Airborne Embedded auTonomOUs Robust Network of Objects and Sensors (AETOURNOS) project is designed as a federative, fueling platform and global evaluation tool. It has spawned another collaborative project bridging the gap between Computer Science and Automation: 6PO (Cyber-Physical Systems and Cooperative Control of a Fleet of UAVs). We want to investigate new flocking strategies, mobility-aware communication protocols (and reciprocally: movements influenced by network QoS), and to ease the cooperation between experts, we need co-simulation solutions, and "universal" control interfaces. This article presents our first contribution to this grand scheme: a stand-alone simulation of an autonomous flocking strategy taking into account both the dynamics of the UAVs and their communications, which has allowed us to examine the relation between network unreliability and control computation. To better study the influence of the communication network, we present an architecture coupling a dedicated network simulator with the UAVs simulator, as well as with a real drone piloting interface. The lessons learned help us build a research and action plan for the years to come.
Url:
DOI: 10.1109/ICUAS.2014.6842244
Affiliations:
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7039" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Aberkane, Samir" sort="Aberkane, Samir" uniqKey="Aberkane S" first="Samir" last="Aberkane">Samir Aberkane</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-185180" status="VALID"><idno type="IdRef">03500472X</idno><idno type="RNSR">200112440X</idno><idno type="IdUnivLorraine">[UL]RSA--</idno><orgName>Centre de Recherche en Automatique de Nancy</orgName><orgName type="acronym">CRAN</orgName><date type="start">2012-01-01</date><desc><address><addrLine>Université de Lorraine, Campus Sciences, BP 70239, 54506 Vandoeuvre-les-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.cran.univ-lorraine.fr</ref></desc><listRelation><relation active="#struct-413289" type="direct"></relation><relation name="UMR7039" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-413289" type="direct"><org type="institution" xml:id="struct-413289" status="VALID"><idno type="IdRef">157040569</idno><idno type="IdUnivLorraine">[UL]100--</idno><orgName>Université de Lorraine</orgName><orgName type="acronym">UL</orgName><date type="start">2012-01-01</date><desc><address><addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7039" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Theilliol, Didier" sort="Theilliol, Didier" uniqKey="Theilliol D" first="Didier" last="Theilliol">Didier Theilliol</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-185180" status="VALID"><idno type="IdRef">03500472X</idno><idno type="RNSR">200112440X</idno><idno type="IdUnivLorraine">[UL]RSA--</idno><orgName>Centre de Recherche en Automatique de Nancy</orgName><orgName type="acronym">CRAN</orgName><date type="start">2012-01-01</date><desc><address><addrLine>Université de Lorraine, Campus Sciences, BP 70239, 54506 Vandoeuvre-les-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.cran.univ-lorraine.fr</ref></desc><listRelation><relation active="#struct-413289" type="direct"></relation><relation name="UMR7039" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-413289" type="direct"><org type="institution" xml:id="struct-413289" status="VALID"><idno type="IdRef">157040569</idno><idno type="IdUnivLorraine">[UL]100--</idno><orgName>Université de Lorraine</orgName><orgName type="acronym">UL</orgName><date type="start">2012-01-01</date><desc><address><addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7039" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author></analytic><idno type="DOI">10.1109/ICUAS.2014.6842244</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Autonomous formation flying (flocking) of UAVs requires coordination of efforts and solutions in multiple research fields (robotics, wireless sensor networks to name a few). The Airborne Embedded auTonomOUs Robust Network of Objects and Sensors (AETOURNOS) project is designed as a federative, fueling platform and global evaluation tool. It has spawned another collaborative project bridging the gap between Computer Science and Automation: 6PO (Cyber-Physical Systems and Cooperative Control of a Fleet of UAVs). We want to investigate new flocking strategies, mobility-aware communication protocols (and reciprocally: movements influenced by network QoS), and to ease the cooperation between experts, we need co-simulation solutions, and "universal" control interfaces. This article presents our first contribution to this grand scheme: a stand-alone simulation of an autonomous flocking strategy taking into account both the dynamics of the UAVs and their communications, which has allowed us to examine the relation between network unreliability and control computation. To better study the influence of the communication network, we present an architecture coupling a dedicated network simulator with the UAVs simulator, as well as with a real drone piloting interface. The lessons learned help us build a research and action plan for the years to come.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Ciarletta, Laurent" sort="Ciarletta, Laurent" uniqKey="Ciarletta L" first="Laurent" last="Ciarletta">Laurent Ciarletta</name></region><name sortKey="Aberkane, Samir" sort="Aberkane, Samir" uniqKey="Aberkane S" first="Samir" last="Aberkane">Samir Aberkane</name><name sortKey="Galtier, Virginie" sort="Galtier, Virginie" uniqKey="Galtier V" first="Virginie" last="Galtier">Virginie Galtier</name><name sortKey="Guenard, Adrien" sort="Guenard, Adrien" uniqKey="Guenard A" first="Adrien" last="Guenard">Adrien Guenard</name><name sortKey="Ponsart, Jean Christophe" sort="Ponsart, Jean Christophe" uniqKey="Ponsart J" first="Jean-Christophe" last="Ponsart">Jean-Christophe Ponsart</name><name sortKey="Presse, Yannick" sort="Presse, Yannick" uniqKey="Presse Y" first="Yannick" last="Presse">Yannick Presse</name><name sortKey="Song, Ye Qiong" sort="Song, Ye Qiong" uniqKey="Song Y" first="Ye-Qiong" last="Song">Ye-Qiong Song</name><name sortKey="Theilliol, Didier" sort="Theilliol, Didier" uniqKey="Theilliol D" first="Didier" last="Theilliol">Didier Theilliol</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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