000153014 001__ 153014
000153014 005__ 20190717172521.0
000153014 0247_ $$2doi$$a10.5075/epfl-thesis-4900
000153014 02470 $$2urn$$aurn:nbn:ch:bel-epfl-thesis4900-0
000153014 02471 $$2nebis$$a6172972
000153014 037__ $$aTHESIS
000153014 041__ $$aeng
000153014 088__ $$a4900
000153014 245__ $$aEvolutionary Synthesis of Communication-Based Aerial Swarms
000153014 269__ $$a2010
000153014 260__ $$bEPFL$$c2010$$aLausanne
000153014 300__ $$a163
000153014 336__ $$aTheses
000153014 520__ $$aAerial swarms have the potential to search for forest fires, chemical plumes or victims and serve as communication and sensor networks in the sky. Flying robots are interesting for such applications because they are fast, can easily overcome difficult terrain and provide line-of-sight communication or aerial perspectives. However, swarms of flying robots have so far only been demonstrated in simulation or in few examples in reality. Current simulators typically rely on unrealistic assumptions concerning robot sensing capabilities and motion. To bridge this reality gap we propose to address two key challenges. The first challenge consists in discovering swarm controllers that do not use position information. Swarm controllers in the literature rely on global or relative position information which can be obtained using GPS, cameras or range and bearing sensors. However, position requirements typically entail robots that are complex, heavy and expensive or that rely on specific environmental conditions to function. Lifting the need for position could instead lead to swarm controllers that can be deployed in a variety of environments and using very simple robots. The second challenge addressed consists in developing swarm controllers that can accommodate motion constraints of flying robots. In particular, we consider fixed-wing robots that can not stop or turn on the spot like ground robots or rotor crafts. Instead they must fly at relatively high speeds to avoid stalling. Therefore, making the robots advance slowly in average can only be done by having them turn. To address these challenges, we consider robot controllers that continuously react to wireless communication with neighboring robots or people by changing their turn rate (communication-based behaviors). Using communication as a sensor for flying robots is interesting because most robots are equipped with off-the-shelf radio modules that are low-cost, light-weight and relatively long-range. The design of robot controllers that can lead to desired swarm behaviors is done following a systematic approach. First, artificial evolution is used to automatically discover simple and unthought-of controllers for swarms of flying robots. Evolved controllers are then reverse engineered to obtain basic behaviors that can be modeled and used in a variety of swarm applications. In order to discover a range of basic behaviors, we consider a challenging swarm application that requires robots to direct themselves in their environment, move in groups, cover an area, and maintain a communication relay. Discovered behaviors are then extended to scenarios with wind. Overall, this thesis presents the evolutionary synthesis of communication-based behaviors for swarms of fixed-wing flying robots.
000153014 6531_ $$aflying robot
000153014 6531_ $$aMAV
000153014 6531_ $$aUAV
000153014 6531_ $$aswarm
000153014 6531_ $$acommunication-relay
000153014 6531_ $$aad-hoc network
000153014 6531_ $$awireless communication
000153014 6531_ $$aartificial evolution
000153014 6531_ $$areverse engineering
000153014 6531_ $$arobot volant
000153014 6531_ $$acommunication
000153014 6531_ $$aréseau ad-hoc
000153014 6531_ $$aévolution artificielle
000153014 6531_ $$aingénierie inverse
000153014 6531_ $$aevolutionary robotics
000153014 6531_ $$aaerial robotics
000153014 700__ $$0243221$$g147560$$aHauert, Sabine
000153014 720_2 $$aFloreano, Dario$$edir.$$g111729$$0240742
000153014 720_2 $$aZufferey, Jean-Christophe$$edir.$$g104340$$0240674
000153014 8564_ $$zTexte intégral / Full text$$yTexte intégral / Full text$$uhttps://infoscience.epfl.ch/record/153014/files/EPFL_TH4900.pdf$$s31162181
000153014 909C0 $$xU10370$$pLIS$$0252161
000153014 909CO $$pthesis$$pthesis-bn2018$$pthesis-public$$pDOI$$ooai:infoscience.tind.io:153014$$qDOI2$$qGLOBAL_SET$$pSTI
000153014 917Z8 $$x108898
000153014 918__ $$dEDIC2005-2015$$cIMT$$aSTI
000153014 919__ $$aLIS
000153014 920__ $$b2010
000153014 970__ $$a4900/THESES
000153014 973__ $$sPUBLISHED$$aEPFL
000153014 980__ $$aTHESIS