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VGSwarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence

Yuwei CaiHuanlin LiZhun Fan ...+5 Zhifeng Hao
Jun 2022
摘要
UAVs (Unmanned Aerial Vehicles) dynamic encirclement is an emerging fieldwith great potential. Researchers often get inspirations from biologicalsystems, either from macro-world like fish schools or bird flocks etc, or frommicro-world like gene regulatory networks. However, most swarm controlalgorithms rely on centralized control, global information acquisition, orcommunication between neighboring agents. In this work, we propose adistributed swarm control method based purely on vision without any directcommunications, in which swarm agents of e.g. UAVs can generate an entrappingpattern to encircle an escaping target of UAV based purly on their installedomnidirectional vision sensors. A finite-state-machine describing the behaviormodel of each individual drone is also designed so that a swarm of drones canaccomplish searching and entrapping of the target collectively. We verify theeffectiveness and efficiency of the proposed method in various simulation andreal-world experiments.
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