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An introductory review of swarm technology for spacecraft on-orbit servicing

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International Journal of Mechanical System Dynamics 2024年第1期4卷 3-21页

作者： El Ghali Asri Zheng H.Zhu Department of Mechanical Engineering York UniversityTorontoOntarioCanada

This review paper presents a comprehensive evaluation and forward-looking perspective on the underexplored topic of servicing target objects using spacecraft *** targets can be known or unknown,cooperative or uncooperative,and pose significant challenges in modern space operations due to their inherent complexity and *** servicing space objects is vital for active debris removal and broader on-orbit servicing tasks such as satellite maintenance,repair,refueling,orbital assembly,and *** effort has been invested in the literature to explore the servicing of targets using a single *** its advantages and benefits,this paper expands the discussion to encompass a swarm approach to the *** review covers various single-spacecraft approaches and presents a critical examination of the existing,although limited,body of work dedicated to servicing orbital objects using multiple *** focus is also broadened to include some influential studies concerning the characterization,capture,and manipulation of physical objects by general multiagent systems,a subject with significant parallels to the core interest of this ***,this article also delves into the realm of simultaneous localization and mapping,highlighting its application within close-proximity operations in space,especially when dealing with unknown uncooperative *** attention is paid to the benefits that this field can receive from distributed multiagent ***,an exploration of the promising field of swarm robotics is presented,with an emphasis on its potential to revolutionize the servicing of orbital target ***,a survey of general research directly engaging swarms in the orbital context is *** review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.

关键词： space robotics on-orbit servicing close-proximity operations guidance and navigation swarm robotics multiagent systems object capture and manipulation simultaneous localization and mapping

Multi-Objective Rule System Based Control Model with Tunable Parameters for swarm Robotic Control in Confined Environment

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Complex System Modeling and Simulation 2024年第1期4卷 33-49页

作者： Yuan Wang Lining Xing Junde Wang Tao Xie Lidong Chen Beijing Institute of Advanced Studies College of Advanced Interdisciplinary StudiesNational University of Defense TechnologyBeijing 100084China Key Laboratory of Collaborative Intelligence Systems Ministry of EducationXidian UniversityXi’an 710071China

Enhancing the adaptability of Unmanned Aerial Vehicle(UAV)swarm control models to cope with different complex working scenarios is an important issue in this research *** achieve this goal,control model with tunable parameters is a widely adopted *** this article,an improved UAV swarm control model with tunable parameters namely Multi-Objective O-Flocking(MO O-Flocking)is *** MO O-Flocking model is a combination of a multi rule control system and a virtual-physical-law based control model with tunable *** achieve multi-objective parameter tuning,a multi-objective parameter tuning method namely Improved Strength Pareto Evolutionary Algorithm 2(ISPEA2)is *** experiment scenarios include six target orientation scenarios with different kinds of *** results show that both the ISPEA2 algorithm and MO O-Flocking control model have good performance in their experiment scenarios.

关键词： swarm robotics flocking model parameter tuning multi-objective optimization heuristics

Dynamic Frontier-Led swarming:Multi-Robot Repeated Coverage in Dynamic Environments

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 646-661页

作者： Vu Phi Tran Matthew A.Garratt Kathryn Kasmarik Sreenatha G.Anavatti School of Engineering and Information Technology University of New South WalesCanberraAustralian Capital Territory 2612Australia IEEE

A common assumption of coverage path planning research is a static *** environments require only a single visit to each area to achieve ***,some real-world environments are characterised by the presence of unexpected,dynamic *** require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle *** paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic *** algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding *** tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different *** measure both repeated coverage performance and obstacle avoidance *** a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.

关键词： Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage stigmergy swarm robotics

Biologically inspired collective construction with visual landmarks

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Journal of Zhejiang University-Science C(Computers and Electronics) 2012年第5期13卷 315-327页

作者： Zheng-wei ZHAN Hong ZHANG Yi-bin LI School of Control Science and Engineering Shandong University Jinan 250061 China Department of Computing Science University of Alberta Edmonton Alberta T6G 2E8 Canada

We describe our research in using environmental visual landmarks as the basis for completing simple robot construction *** by honeybee visual navigation behavior,a visual template mechanism is proposed in which a natural landmark serves as a visual reference or template for distance determination as well as for navigation during collective *** validate our proposed mechanism,a wall construction problem is investigated and a minimalist solution is *** results show that,using the mechanism of a visual template,a collective robotic system can successfully build the desired structure in a decentralized fashion using only local sensing and no direct *** addition,a particular variable,which defines tolerance for alignment of the structure,is found to impact the system *** decreasing the value of the variable,system performance is improved at the expense of a longer construction *** visual template mechanism is appealing in that it can use a reference point or salient object in a natural environment that is new or unexplored and it could be adapted to facilitate more complicated building tasks.

关键词： Biologically inspired swarm robotics Collective construction Visual landmark Template

Emerging robot swarm traffic

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International Journal of Intelligent Computing and Cybernetics 2012年第3期5卷 312-339页

作者： Jacques Penders Lyuba Alboul Materials and Engineering Research Institute Sheffield Hallam UniversitySheffieldUK

Purpose-This paper aims to discuss traffic patterns generated by swarms of robots while commuting to and from a base ***/methodology/approach-The paper adopts a mathematical evaluation and robot swarm *** swarm approach is bottom-up:designing individual agents the authors are looking for emerging group behaviour *** of group behaviour patterns are human-driven motorized traffic which is rigidly structured in two lanes,while army ants develop a three-lane pattern in their *** authors copy army ant characteristics onto their robots and investigate whether the three lane traffic pattern may *** follow a three-step *** authors first investigate the mathematics and geometry of cases occurring when applying the artificial potential field method to three“perfect”*** traffic pattern(two,three or more lanes)appears to be ***,they use the mathematical cases to study the impact of limited visibility by defining models of sensor *** the final step the authors implement ant inspired sensor models and a trail following mechanism on the robots in the swarm and explore which traffic patterns do emerge in open space as well as in bounded ***-The study finds that traffic lanes emerge in the swarm traffic;however the number of lanes is dependent on the initial situation and environmental *** the applied robot models do not determine a specific number of traffic ***/value-The paper presents a method for studying and simulating robot swarms.

关键词： swarm robotics Sensors and visibility Traffic patterns Traffic flow robotics Intelligent sensors

Quanta-A platform for rapid control and monitoring of heterogeneous rbots

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Digital Communications and Networks 2020年第4期6卷 452-462页

作者： S.Sankhar Reddy CH. Anita Agrawal Anupama K.R. E.E.E Department BITS PilaniK K Birla Goa CampusGoa403726India

Rapid prototyping,real-time control and monitoring of various events in robots are crucial requirements for research in the fields of modular and swarm robotics.A large quantities of resources(time,man power,infrastructure,etc.)are often invested in programming,interfacing the sensors,debugging the response to algorithms during prototyping and operational phases of a robot development *** cost of developing an optimal infrastructure to efficiently address such control and monitoring requirements increases significantly in the presence of mobile *** numerous solutions have been developed for minimizing the resources spent on hardware prototyping and algorithm validation in both static and mobile scenarios,it can be observed that researchers have either chosen methodologies that conflict with the power and infrastructure constraints of the research field or generated constrained solutions whose applications are restricted to the field *** paper develops a solution for addressing the challenges in controlling heterogeneous mobile robots.A platform named Quanta-a cost effective,energy efficient and high-speed wireless infrastructure is prototyped as a part of the research in the field of modular *** is capable of controlling and monitoring various events in/using a robot with the help of a light-weight communication protocol independent of the robot hardware architecture(s).

关键词： modular robotics swarm robotics Concurrent control and monitoring Event scheduling Centralized/decentralized communication

Bio-inspired Multi-agent Model and Optimization Strategy for Collaborative Aerial Transport

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Bio-inspired Multi-agent Model and Optimization Strategy for...

Bee-Dance-Inspired UAV Trajectory Pattern Design for Target Information Transfer without Direct Communication

2021中国智能自动化大会(CIAC2021)

作者： Kangyao Huang Jingyu Chen John Oyekan Xinyu Zhang Tsinghua University School of Vehicle and Mobility Department of Automatic Control and Systems Engineering The University of Sheffield

Collaboration between robots provides solutions for transporting more complex and heavier loads. In this work, inspired by the ant colony foraging and transport, we put forward two collaborative models, Coupled-Carriers and Navigator-Carrier, for aerial cooperative transport. To achieve this, a linear quadratic regulator(LQR) is applied to optimize the performance. The results show the task of dual-drone transport of a bar load is successfully accomplished.

关键词： Cooperative transport swarm intelligence swarm robotics Multi-agent system Optimal control

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Bee-Dance-Inspired UAV Trajectory Pattern Design for Target ...