788 11j presentation flock control using information energy presented by mukundan sridharan
Download
Skip this Video
Download Presentation
788.11J Presentation “Flock Control: Using Information Energy” Presented by Mukundan Sridharan

Loading in 2 Seconds...

play fullscreen
1 / 12

788.11J Presentation “Flock Control: Using Information Energy” Presented by Mukundan Sridharan - PowerPoint PPT Presentation


  • 112 Views
  • Uploaded on

788.11J Presentation “Flock Control: Using Information Energy” Presented by Mukundan Sridharan. The Main Idea. Use a Flock of Bat-sized Micro Aerial Vehicles (MAV) to sense the air of a medium sized city (20 km radius and 2 Km height), for toxic material.

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about ' 788.11J Presentation “Flock Control: Using Information Energy” Presented by Mukundan Sridharan' - majed


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
788 11j presentation flock control using information energy presented by mukundan sridharan
788.11J Presentation“Flock Control: Using Information Energy”

Presented by

Mukundan Sridharan

the main idea
The Main Idea
  • Use a Flock of Bat-sized Micro Aerial Vehicles (MAV) to sense the air of a medium sized city (20 km radius and 2 Km height), for toxic material.
  • The MAVs form a Ad hoc network and relays the data back to a ground control centre.
  • We want more sensing nodes in areas of higher toxic plumes
  • As the MAVs move the communication with the base station should not be interrupted.
the main achievements
The Main Achievements
  • Information Energy gradient for command and control:
    • How important is a certain region
    • Based on:
      • Quality of data sensed by the node and its neighbors
      • Amount of data relayed to BS by the node and its neighbors
    • More important a region, less is the repelling potential for the nodes in the region
the challenges
The Challenges
  • Avoiding Collision between MAVs
  • Dispersing MAVs to search for contaminated areas
  • Bounding vehicle movement to a limited coverage volume (preventing MAVs from hitting buildings)
    • Based on the first three conditions each node calculates a repelling potential
    • This achieves uniform distribution in the coverage volume, in the absence of any toxic plumes
  • Encouraging some MAVs to cluster in the vicinity of toxic plumes
    • As the quality of data sensed increases, the repelling potential of the node is decreased, attracting other nodes to the area.
  • Maintaining network connectivity between the MAVs in plumes to the ground control centre
    • A weighted average of unit vectors pointing from BS to each MAV, is computed
    • Vectors are weighted based on the data quality of the nodes
    • The weighted average vector points in the direction of the plume from BS
    • MAVs closer to this vector decrease their repelling potential
results
Results
  • Only Simulation Results
  • A 147 node flock is simulated, which form a ad hoc network, to cover a volume of 40 X 40 X 1(km)
  • The communication range of nodes, assumed to be >5km (?)
references
References
  • Information Energy for Sensor-Reactive UAV Flock Control
ad