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Register a new userA Benchmark for Multi-UAV Task Assignment of an Extended Team Orienteering Problem
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Added by
Kun Xiao
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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A benchmark for multi-UAV task assignment is presented in order to evaluate different algorithms. An extended Team Orienteering Problem is modeled for a kind of multi-UAV task assignment problem. Three intelligent algorithms, i.e., Genetic Algorithm, Ant Colony Optimization and Particle Swarm Optimization are implemented to solve the problem. A series of experiments with different settings are conducted to evaluate three algorithms. The modeled problem and the evaluation results constitute a benchmark, which can be used to evaluate other algorithms used for multi-UAV task assignment problems.
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Unmanned aerial vehicle (UAV) swarm has emerged as a promising novel paradigm to achieve better coverage and higher capacity for future wireless network by exploiting the more favorable line-of-sight (LoS) propagation. To reap the potential gains of UAV swarm, the remote control signal sent by ground control unit (GCU) is essential, whereas the control signal quality are susceptible in practice due to the effect of the adjacent channel interference (ACI) and the external interference (EI) from radiation sources distributed across the region. To tackle these challenges, this paper considers priority-aware resource coordination in a multi-UAV communication system, where multiple UAVs are controlled by a GCU to perform certain tasks with a pre-defined trajectory. Specifically, we maximize the minimum signal-to-interference-plus-noise ratio (SINR) among all the UAVs by jointly optimizing channel assignment and power allocation strategy under stringent resource availability constraints. According to the intensity of ACI, we consider the corresponding problem in two scenarios, i.e., Null-ACI and ACI systems. By virtue of the particular problem structure in Null-ACI case, we first recast the formulation into an equivalent yet more tractable form and obtain the global optimal solution via Hungarian algorithm. For general ACI systems, we develop an efficient iterative algorithm for its solution based on the smooth approximation and alternating optimization methods. Extensive simulation results demonstrate that the proposed algorithms can significantly enhance the minimum SINR among all the UAVs and adapt the allocation of communication resources to diverse mission priority.
We propose a novel non-randomized anytime orienteering algorithm for finding k-optimal goals that maximize reward on a specialized graph with budget constraints. This specialized graph represents a real-world scenario which is analogous to an orienteering problem of finding k-most optimal goal states.
Unmanned Aerial Vehicle (UAV) offers lots of applications in both commerce and recreation. With this, monitoring the operation status of UAVs is crucially important. In this work, we consider the task of tracking UAVs, providing rich information such as location and trajectory. To facilitate research on this topic, we propose a dataset, Anti-UAV, with more than 300 video pairs containing over 580k manually annotated bounding boxes. The releasing of such a large-scale dataset could be a useful initial step in research of tracking UAVs. Furthermore, the advancement of addressing research challenges in Anti-UAV can help the design of anti-UAV systems, leading to better surveillance of UAVs. Besides, a novel approach named dual-flow semantic consistency (DFSC) is proposed for UAV tracking. Modulated by the semantic flow across video sequences, the tracker learns more robust class-level semantic information and obtains more discriminative instance-level features. Experimental results demonstrate that Anti-UAV is very challenging, and the proposed method can effectively improve the trackers performance. The Anti-UAV benchmark and the code of the proposed approach will be publicly available at https://github.com/ucas-vg/Anti-UAV.
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the target and the UAVs to within desired values, and to guarantee that the generated control inputs to the UAVs are feasible (i.e., within their motion capabilities). Moreover, the UAVs are controlled to ensure that the target always remains within the fields of view of their onboard cameras. To the best of our knowledge, this is the first work to apply multiple UAVs to cooperatively track a dynamic target while ensuring that the UAVs remain connected and that both occlusion and collisions are avoided. To achieve these control objectives, a designed controller solved based on the aforementioned tracking controller using quadratic programming can generate minimally invasive control actions to achieve occlusion avoidance and collision avoidance. Furthermore, control barrier functions (CBFs) with a distributed design are developed in order to reduce the amount of inter-UAV communication. Simulations were performed to assess the efficacy and performance of the developed CBF-based controller for the multi-UAV system in tracking a target.
Recently, several studies have explored the use of neural network to solve different routing problems, which is an auspicious direction. These studies usually design an encoder-decoder based framework that uses encoder embeddings of nodes and the problem-specific context to produce node sequence(path), and further optimize the produced result on top by beam search. However, existing models can only support node coordinates as input, ignore the self-referential property of the studied routing problems, and lack the consideration about the low reliability in the initial stage of node selection, thus are hard to be applied in real-world. In this paper, we take the orienteering problem as an example to tackle these limitations. We propose a novel combination of a variant beam search algorithm and a learned heuristic for solving the general orienteering problem. We acquire the heuristic with an attention network that takes the distances among nodes as input, and learn it via a reinforcement learning framework. The empirical studies show that our method can surpass a wide range of baselines and achieve results close to the optimal or highly specialized approach. Also, our proposed framework can be easily applied to other routing problems. Our code is publicly available.
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