Collaborative coverage for target search using a group of unmanned aerial vehicles(UAVs)has received increasing attention in recent years.However,the design of distributed control strategy and coordination mechanisms ...Collaborative coverage for target search using a group of unmanned aerial vehicles(UAVs)has received increasing attention in recent years.However,the design of distributed control strategy and coordination mechanisms remains a challenge.This paper presents a distributed and online heuristic strategy to solve the problem of multi-UAV collaborative coverage.As a basis,each UAV maintains a probability grid map in the form of a locally stored matrix,without shared memory.Then we design two evaluation functions and related technical strategies to enable UAVs to make state transfer or area transfer decisions in an online self-organizing way.The simulation results show that the algorithm integrates geometric features such as parallel search and internal spiral search,and is not interfered by factors such as sudden failure of UAVs,changes in detection range,and target movement.Compared with other commonly used methods for target search,our strategy has high search e±ciency,good robustness,and fault tolerance.展开更多
This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized l...This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized location services and thus has provable correctness and performance. In Isotope, each node needs to only maintain linkage information with about O(log n) other nodes and any node can be reached within O(log n) routing hops. Compared with other related schemes, Isotope’s average locating path length is only half that of Chord, and its locating performance and locality-awareness are similar to that of Pastry and Tapestry. In addition, Isotope is more suitable for constantly changing networks because it needs to exchange only O(log n) O(log n) messages to update the routing information for nodes arrival, departure and failure.展开更多
基金This study was supported by the Science and Technology Innovation Foundation of China(Grant No.18-163-11).
文摘Collaborative coverage for target search using a group of unmanned aerial vehicles(UAVs)has received increasing attention in recent years.However,the design of distributed control strategy and coordination mechanisms remains a challenge.This paper presents a distributed and online heuristic strategy to solve the problem of multi-UAV collaborative coverage.As a basis,each UAV maintains a probability grid map in the form of a locally stored matrix,without shared memory.Then we design two evaluation functions and related technical strategies to enable UAVs to make state transfer or area transfer decisions in an online self-organizing way.The simulation results show that the algorithm integrates geometric features such as parallel search and internal spiral search,and is not interfered by factors such as sudden failure of UAVs,changes in detection range,and target movement.Compared with other commonly used methods for target search,our strategy has high search e±ciency,good robustness,and fault tolerance.
基金Sponsored by the National Natural Science Foundation of China(Grant No.60073074).
文摘This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized location services and thus has provable correctness and performance. In Isotope, each node needs to only maintain linkage information with about O(log n) other nodes and any node can be reached within O(log n) routing hops. Compared with other related schemes, Isotope’s average locating path length is only half that of Chord, and its locating performance and locality-awareness are similar to that of Pastry and Tapestry. In addition, Isotope is more suitable for constantly changing networks because it needs to exchange only O(log n) O(log n) messages to update the routing information for nodes arrival, departure and failure.
