Multiple Drones driven Hexagonally Partitioned Area Exploration: Simulation and Evaluation Article Swipe
Ayush Datta
,
Rahul Tallamraju
,
Kamalakar Karlapalem
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1906.00401
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1906.00401
In this paper, we simulated a distributed, cooperative path planning technique for multiple drones (~200) to explore an unknown region (~10,000 connected units) in the presence of obstacles. The map of an unknown region is dynamically created based on the information obtained from sensors and other drones. The unknown area is considered a connected region made up of hexagonal unit cells. These cells are grouped to form larger cells called sub-areas. We use long range and short range communication. The short-range communication within drones in smaller proximity helps avoid re-exploration of cells already explored by companion drones located in the same subarea. The long-range communication helps drones identify next subarea to be targeted based on weighted RNN (Reverse nearest neighbor). Simulation results show that weighted RNN in a hexagonal representation makes exploration more efficient, scalable and resilient to communication failures.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1906.00401
- https://arxiv.org/pdf/1906.00401
- OA Status
- green
- References
- 28
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W2947305876
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2947305876Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.1906.00401Digital Object Identifier
- Title
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Multiple Drones driven Hexagonally Partitioned Area Exploration: Simulation and EvaluationWork title
- Type
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preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2019Year of publication
- Publication date
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2019-06-02Full publication date if available
- Authors
-
Ayush Datta, Rahul Tallamraju, Kamalakar KarlapalemList of authors in order
- Landing page
-
https://arxiv.org/abs/1906.00401Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1906.00401Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/1906.00401Direct OA link when available
- Concepts
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Drone, Computer science, Scalability, Range (aeronautics), Representation (politics), Hexagonal crystal system, Distributed computing, Engineering, Aerospace engineering, Biology, Politics, Genetics, Database, Chemistry, Political science, Law, CrystallographyTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
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28Number of works referenced by this work
- Related works (count)
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20Other works algorithmically related by OpenAlex
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| abstract_inverted_index.map | 29 |
| abstract_inverted_index.the | 24, 39, 99 |
| abstract_inverted_index.use | 72 |
| abstract_inverted_index.area | 49 |
| abstract_inverted_index.form | 66 |
| abstract_inverted_index.from | 42 |
| abstract_inverted_index.long | 73 |
| abstract_inverted_index.made | 55 |
| abstract_inverted_index.more | 132 |
| abstract_inverted_index.next | 108 |
| abstract_inverted_index.path | 8 |
| abstract_inverted_index.same | 100 |
| abstract_inverted_index.show | 122 |
| abstract_inverted_index.that | 123 |
| abstract_inverted_index.this | 1 |
| abstract_inverted_index.unit | 59 |
| abstract_inverted_index.These | 61 |
| abstract_inverted_index.avoid | 88 |
| abstract_inverted_index.based | 37, 113 |
| abstract_inverted_index.cells | 62, 68, 91 |
| abstract_inverted_index.helps | 87, 105 |
| abstract_inverted_index.makes | 130 |
| abstract_inverted_index.other | 45 |
| abstract_inverted_index.range | 74, 77 |
| abstract_inverted_index.short | 76 |
| abstract_inverted_index.(~200) | 14 |
| abstract_inverted_index.called | 69 |
| abstract_inverted_index.cells. | 60 |
| abstract_inverted_index.drones | 13, 83, 96, 106 |
| abstract_inverted_index.larger | 67 |
| abstract_inverted_index.paper, | 2 |
| abstract_inverted_index.region | 19, 33, 54 |
| abstract_inverted_index.units) | 22 |
| abstract_inverted_index.within | 82 |
| abstract_inverted_index.already | 92 |
| abstract_inverted_index.created | 36 |
| abstract_inverted_index.drones. | 46 |
| abstract_inverted_index.explore | 16 |
| abstract_inverted_index.grouped | 64 |
| abstract_inverted_index.located | 97 |
| abstract_inverted_index.nearest | 118 |
| abstract_inverted_index.results | 121 |
| abstract_inverted_index.sensors | 43 |
| abstract_inverted_index.smaller | 85 |
| abstract_inverted_index.subarea | 109 |
| abstract_inverted_index.unknown | 18, 32, 48 |
| abstract_inverted_index.(Reverse | 117 |
| abstract_inverted_index.(~10,000 | 20 |
| abstract_inverted_index.explored | 93 |
| abstract_inverted_index.identify | 107 |
| abstract_inverted_index.multiple | 12 |
| abstract_inverted_index.obtained | 41 |
| abstract_inverted_index.planning | 9 |
| abstract_inverted_index.presence | 25 |
| abstract_inverted_index.scalable | 134 |
| abstract_inverted_index.subarea. | 101 |
| abstract_inverted_index.targeted | 112 |
| abstract_inverted_index.weighted | 115, 124 |
| abstract_inverted_index.companion | 95 |
| abstract_inverted_index.connected | 21, 53 |
| abstract_inverted_index.failures. | 139 |
| abstract_inverted_index.hexagonal | 58, 128 |
| abstract_inverted_index.proximity | 86 |
| abstract_inverted_index.resilient | 136 |
| abstract_inverted_index.simulated | 4 |
| abstract_inverted_index.technique | 10 |
| abstract_inverted_index.Simulation | 120 |
| abstract_inverted_index.considered | 51 |
| abstract_inverted_index.efficient, | 133 |
| abstract_inverted_index.long-range | 103 |
| abstract_inverted_index.neighbor). | 119 |
| abstract_inverted_index.obstacles. | 27 |
| abstract_inverted_index.sub-areas. | 70 |
| abstract_inverted_index.cooperative | 7 |
| abstract_inverted_index.dynamically | 35 |
| abstract_inverted_index.exploration | 131 |
| abstract_inverted_index.information | 40 |
| abstract_inverted_index.short-range | 80 |
| abstract_inverted_index.distributed, | 6 |
| abstract_inverted_index.communication | 81, 104, 138 |
| abstract_inverted_index.communication. | 78 |
| abstract_inverted_index.re-exploration | 89 |
| abstract_inverted_index.representation | 129 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.5899999737739563 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile |