网范文：“SwarMAV: A Swarm of Miniature Aerial Vehicles ” 随着飞行器领域的成熟,我们希望看到更多的技术,信息交换,以及无人驾驶等,这至少会成为至关重要的气动设计。这篇工程范文中描述的项目研讨了某些方面的发展，利用其固有的可靠性,及其成员之间交换信息的能力,以应对不断变化的环境，来实现其使命。我们成功开发的原型实验平台重量只有75克。
过去十年越来越多人关注传统的无人机的运用。不过,仍在迅速发展的领域，英语论文题目，主要集中在苛刻的技术，要求个人空中平台及其传感功能。占主导地位的仍限于一个飞行器控制。相反,如果我们可以利用一群小飞行器合作解决一个任务，突然的场景看起来很不同的。协调与合作成为要解决的主要问题。下面的范文讲述了这一问题。
ABSTRACT
As the MAV (Micro or Miniature Aerial Vehicles) field matures, we expect to see that the platform's degree of autonomy, the information exchange, and the coordination with other manned and unmanned actors, will become at least as crucial as its aerodynamic design. The project described in this explores some aspects of a particularly exciting possible avenue of development: an autonomous swarm of MAVs able to exploit its inherent reliability (through redundancy), and its ability to exchange information among the members, in order to cope with a dynamically changing environment and achieve its mission. We describe the successful development of a rotorcraft-based prototype experimental platform weighing only 75g, and outline a strategy for the automatic design of a suitable controller.
Introduction
The events of the last decade have produced an increasing focus on the application requirements for conventional UAVs. However, the burgeoning field of MAVs is still mainly focused on the demanding technical requirements for the individual aerial platform and its sensing capabilities. The dominant mission scenario is still limited to a single MAV controlled by a single minimally skilled operator. What if, instead, we could take advantage of a group of MAVs cooperating to solve a task? The scenario suddenly looks very different [10]. Coordination and cooperation become the main problems to solve, but previously unthinkable possibilities are now open. Looking at a target from different viewpoints simultaneously, or quickly surveying a large area, suddenly become feasible tasks.
The resulting system may be inherently more robust because of the potential redundancy of individuals, while the small size of the MAVs makes the whole group stealthy. The SwarMAV project currently under development at the University of Essex aims to provide a proof of concept system by building an indoor “flock” of MAVs. The project combines two key ideas: using biologically inspired rules of group behaviour (flocking) to enable a group of UAVs to control its own motion; and wirelessly networking the swarm members together to form a single powerful computing resource – perhaps ultimately a kind of grid computer – to enable in situ processing of collectively gathered data. The basic concepts required for such a system are described in the next section, and the enabling technologies are discussed in Section 3. Section 4 deals with the early implementation, and Section 5 summarises the results of the first experiments. The conclusions to date are presented in Section 6.
Flocking
The term 'swarm intelligence' is generally used to refer to the emergence of coherent functions governed by low level interaction and/or communication between large numbers of individuals. This is clearly a very broad definition – perhaps too broad to be useful – and so when the interaction among group members leads to coordinated movement, the more specific term 'flocking' is preferred. The reference derives from flocks of birds, in which the individuals move with approximately the same velocity, and at a roughly similar inter-agent distance.
The advantages of the flocking paradigm are clear: coordination is achieved without any high level centralized control, and is totally independent of group size. Flocking therefore embeds the very important properties of distributedness and scalability. Reynolds [1] demonstrated that a few simple behavioural rules applied locally by each individual can actually lead to lifelike flocking of groups of simulated agents. Rules governing cohesion, separation and alignment, and modulated only by the relative positions of nearby flockmates, appear to be sufficient to guarantee flocking.
At the same time, methods are available to enable the high-level external guidance of a flock while retaining the attractive lowlevel core functionality. The seminal work of Reynolds stimulated a series of investigations in many different scientific fields, notably biology, computer science, physics, and most control system engineering, the latter being a particularly active area at present. Strategies for coordinated control based on behavioural rules have been proposed by several control system engineers; by using well-defined potential functions, the convergence and stability of a number of flocking control algorithms has now been demonstrated (Jadbabaie [8], Olfati-Saber [9]). Those results have opened the way for practical designs soundly based on control system engineering techniques.
Conclusions
Although the project is still at an early stage, initial work has confirmed the availability of small rotorcraft suitable for extended and agile flight in our indoor arena. Existing technologies will be adequate for equipping the vehicles with onboard computational, communications, and sensory resources, for providing accurate localisation for navigation, and also for identifying the flight characteristics of the machines. Preliminary investigation of a technique for automating the design of the flight controllers has proved promising. Although there is still much work to be done, a credible technical basis for the SwarMAV system has now been established, and development can now proceed with some assurance of success.()
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