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	VGSwarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence
	Cai, Yuwei4; Li, Huanlin4; Fan, Zhun4; Hong, Juncao4; Xu, Peng4; Cheng, Hui3; Zhu, Xiaomi2; Hu, Bingliang1; Hao, Zhifeng4
英文摘要	UAVs (Unmanned Aerial Vehicles) dynamic encirclement is an emerging field with great potential. Researchers often get inspirations from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world like gene regulatory networks. However, most swarm control algorithms rely on centralized control, global information acquisition, or communication between neighboring agents. In this work, we propose a distributed swarm control method based purely on vision without any direct communications, in which swarm agents of e.g. UAVs can generate an entrapping pattern to encircle an escaping target of UAV based purly on their installed omnidirectional vision sensors. A finite-state-machine describing the behavior model of each individual drone is also designed so that a swarm of drones can accomplish searching and entrapping of the target collectively. We verify the effectiveness and efficiency of the proposed method in various simulation and real-world experiments. Copyright © 2022, The Authors. All rights reserved.
	2022-06-17
产权排序	4
语种	英语
内容类型	预印本
源URL	[http://ir.opt.ac.cn/handle/181661/96046]
专题	西安光学精密机械研究所_光学影像学习与分析中心
作者单位	1.Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Shanxi Province, Xi'An, China 2.College of Systems Engineering, National University of Defense Technology Changsha, China; 3.School of Computer Science and Engineering, Sun Yat-Sen University, Guangzhou; 511400, China; 4.Key Lab of Digital Signal, Image Processing of Guangdong Province, College of Engineering, Shantou University, China;
推荐引用方式 GB/T 7714	Cai, Yuwei,Li, Huanlin,Fan, Zhun,et al. VGSwarm: A Vision-based Gene Regulation Network for UAVs Swarm Behavior Emergence. 2022.

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