UAV-UGV-UMV Multi-Swarms for Cooperative Surveillance

• Main Authors: Daniel H. Stolfi, Matthias R. Brust, Grégoire Danoy, Pascal Bouvry
• Format: Article
• Language: English
• Published: Frontiers Media S.A. 2021-02-01
• Series: Frontiers in Robotics and AI
• Subjects: swarm robotics; mobility model; UAV; UGV; UMV; competitive coevolutionary genetic algorithm
• Online Access: https://www.frontiersin.org/articles/10.3389/frobt.2021.616950/full

In this paper we present a surveillance system for early detection of escapers from a restricted area based on a new swarming mobility model called CROMM-MS (Chaotic Rössler Mobility Model for Multi-Swarms). CROMM-MS is designed for controlling the trajectories of heterogeneous multi-swarms of aerial, ground and marine unmanned vehicles with important features such as prioritising early detections and success rate. A new Competitive Coevolutionary Genetic Algorithm (CompCGA) is proposed to optimise the vehicles’ parameters and escapers’ evasion ability using a predator-prey approach. Our results show that CROMM-MS is not only viable for surveillance tasks but also that its results are competitive in regard to the state-of-the-art approaches.