788 11j presentation flock control using information energy presented by mukundan sridharan
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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.

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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 communication clustering effects

  • Information Energy for Sensor-Reactive UAV Flock Control


Comments and Questions communication clustering effects


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