die visuelle sprache der fakultät für technische ... · local processing information merging...
Post on 10-Sep-2018
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B.Rinner
B.Rinner
B.Rinner
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Field of View (FOV)
Drone
Environment
Ground station
Communication link
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Local
processing
Information
merging
Motion
planning
Observation
Path
Local
environment
perception
Global
environment
perception
Drone
Team members
(Drones)
Environment
perception
Movement
decisions
Coordination
Team members
(Drones)
Sensor
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•0 2 4 6 8 10 12 14
60
80
100
120
140
160
180
Communication range (Euclidean distance)
Avera
ge tim
e s
teps (
T)
CC
CD
DD
DC
waits for the return of all the UAVs
overlapping paths are unlikely
(less information merging)
information merging is delayed
till the return of all the UAVs
Grid of 10x10 cells, Number of UAVs (A) = 2, B = 1,
p = 0.9, q = 0.2, θ = 0.9, P0=0.5.
Motion
planning
Information
merging
CC CD
DC DD
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