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Afit Uav Swarm Mission Planning And Simulation System, James N. Slear
Afit Uav Swarm Mission Planning And Simulation System, James N. Slear
Theses and Dissertations
The purpose of this research is to design and implement a comprehensive mission planning system for swarms of autonomous aerial vehicles. The system integrates several problem domains including path planning, vehicle routing, and swarm behavior. The developed system consists of a parallel, multi-objective evolutionary algorithm-based path planner, a genetic algorithm-based vehicle router, and a parallel UAV swarm simulator. Each of the system's three primary components are developed on AFIT's Beowulf parallel computer clusters. Novel aspects of this research include: integrating terrain following technology into a swarm model as a means of detection avoidance, combining practical problems of path planning and …
Evolving Self-Organized Behavior For Homogeneous And Heterogeneous Uav Or Ucav Swarms, Ian C. Price
Evolving Self-Organized Behavior For Homogeneous And Heterogeneous Uav Or Ucav Swarms, Ian C. Price
Theses and Dissertations
This investigation uses a self-organization (SO) approach to enable cooperative search and destruction of retaliating targets with swarms of homogeneous and heterogeneous unmanned aerial vehicles (UAVs). To facilitate specific system design, a facilitating SO algebraic framework is created that emphasizes scalability, robustness, and flexibility. This framework is then used to implement a UAV behavior architecture relying upon rules governing formation and target interaction. Sets of applicable behaviors are created by weighted summation of the rules where different weights act as distinct behavior archetypes. Appropriate behavior archetypes are based upon sense information distilled from the environment and a simple perceptron mapping. …