NDLI: A genetic algorithm approach to swarm centroid tracking in quadrotor unmanned aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Nakano, Reiichiro Christian S. Bandala, Argel Faelden, Gerard Ely Maningo, Jose Martin Dadios, Elmer P.
Copyright Year	2014
Description	Author affiliation: Electronics and Communications Engineering Department, Manufacturing Engineering and Management Engineering Department De La Salle University, Manila, Philippines (Nakano, Reiichiro Christian S.; Bandala, Argel; Faelden, Gerard Ely; Maningo, Jose Martin; Dadios, Elmer P.)
Abstract	One of the trademark behaviors of a swarm is aggregation. Aggregation is the ability to gather swarm members around a specific point in space. The goal is to keep an object, stationary or moving, at the center of the swarm. This paper presents a novel approach to centroid tracking in robotic swarms. Genetic algorithm is used in quadrotor unmanned aerial vehicles to keep the object being tracked at the center while minimizing two parameters: the distance travelled by each quadrotor and the distance of each quadrotor from the object. Centroid tracking was found to have an average error of 0.0623568 units for swarm populations ranging from 10 to 100 with the lower swarm populations exhibiting lower errors. Convergence did not exceed the maximum of 23 milliseconds for populations less than 30. These results show that the algorithm is well-suited for implementation in swarms with lower numbers of quadrotors.
Starting Page	1
Ending Page	6
File Size	1184714
Page Count	6
File Format	PDF
e-ISBN	9781479940202
DOI	10.1109/HNICEM.2014.7016217
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-11-12
Publisher Place	Philippines
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aggregation Centroid Runtime Tracking Conferences Sociology Genetic algorithm Statistics Biological cells Nanotechnology Swarm quadrotor Genetic algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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