Synchronized Swarm of Unmanned Vehicle Systems for Large-Scale Dynamic Applications

用于大规模动态应用的同步群无人驾驶车辆系统

• 批准号: RGPIN-2017-06708
• 负责人: Liu, Hugh
• 金额: $ 3.21万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=688813
• 关键词: Synchronized; Swarm; Unmanned; Vehicle; Systems

Research on unmanned aerial vehicles (UAVs, or drones) and unmanned ground vehicles (UGVs, or robots) hold great promise for a wide range of applications. Over the past 10 years, our research team has developed expertise in cooperative control of multiple autonomous unmanned systems and has gained much experience in several commercial applications, including successful field demonstrations in wildfire monitoring, wetland inspection, as well as city traffic management. From the applications' perspective, the environmental factors (e.g., fire progress, algal bloom, traffic growth) share common features of being large in scale, and being dynamic in both spatial and temporal distribution. It is natural to see the benefit of using a fleet of unmanned vehicle systems, or UVS, to cover a large complicated environmental scope in a timely fashion. From the vehicles' perspective, these unmanned systems need to operate in a coordinated, intelligent way to deal with these applications. They also need to be highly autonomous in self-organization and stimulated in achieving mission specific tasks, such as mapping the fire/algal/traffic growth. ******[Objectives] Based on our previous work on formation control of multiple vehicle systems as well as application experience, a new research program is proposed to swarm a large number of unmanned vehicle systems in motion synchronization to target large-scale, spatial and temporal distributed dynamic applications. The main objective is to develop a so-called synchronized swarm intelligence of UVS for the target applications. Synchronization maintains UVS operation at the same rate in time-coordination; swarm allows for self-organization to reach “ ... an emergent behavior arising from simple rules” (www.wikipedia.org); and intelligence refers to a stimulated motivation to achieve specific mission tasks, The integration of temporal synchronization, spatial swarm and stimulated intelligence is custom developed for large-scale dynamic environmental applications. In the long run, the proposed research program is aimed at developing a disruptive technology to operate a large number of autonomous UVS in specialized applications.******The proposed research topic in large-scale dynamic applications is important to protect Canada's natural resources. Our proposed research program is novel, to the best of our knowledge, by introducing and integrating the concepts of synchronization (temporal), swarm (spatial), and stimulated intelligence. It is tailor designed for large-scale environmental applications. We believe that the success of the proposed research will bring the active UVS research to a significantly higher level of multiplicity, diversity and autonomy, to reach at its great potential. The proposed scientific approaches are both leading-edge academically and balanced in considering its feasibility in potential application.

无人驾驶汽车（无人机或无人机）和无人接地车辆（UGVS或机器人）的研究对广泛的应用有着巨大的希望。在过去的10年中，我们的研究团队在多个自动无人驾驶系统的合作控制方面发展了专业知识，并在多种商业应用中获得了很多经验，包括在野火监测，湿地检查以及城市交通管理方面的成功现场演示。从应用程序的角度来看，环境因素（例如，火灾进度，藻华，交通增长）具有规模较大的共同特征，并且在空间和临时分布中都具有动态性。很自然地看到使用无人车系统（紫外线）及时覆盖较大的复杂环境范围的好处。从车辆的角度来看，这些无人系统需要以协调的智能方式来处理这些应用程序。他们还需要在自组织方面具有高度自主性，并在完成特定任务（例如绘制火灾/藻类/交通增长）方面受到刺激。 ***** [目标]基于我们先前关于多个车辆系统的形成控制以及应用程序经验的工作，提出了一项新的研究计划，以蜂拥大量运动同步的无人车辆系统，以针对大规模，空间和临时分布式动态应用。主要目的是为目标应用开发紫外线的所谓同步群体智能。同步在时间协调方面保持紫外线操作的速度相同；群体允许自组织达到“ ...简单规则引起的紧急行为”（www.wikipedia.org）；情报是指实现特定任务任务的激发动机，临时同步，空间群和刺激智能的整合是针对大型动态环境应用的定制的。从长远来看，拟议的研究计划旨在开发一种破坏性的技术来在专用应用程序中运营大量自动紫外线。据我们所知，我们提出的研究计划是通过引入和整合同步（时间），群（空间）和刺激智能的概念而新颖的。它是为大型环境应用设计的量身定制的。我们认为，拟议的研究的成功将使积极的紫外线研究达到更高水平的多样性，多样性和自主权，以发挥其巨大的潜力。拟议的科学方法在考虑其在潜在应用中的可行性方面在学术上和平衡都处于领先地位。