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Bio-inspired self-organising multi-robot pattern formation: A review
Oh, Hyondong,Ramezan Shirazi, Ataollah,Sun, Chaoli,Jin, Yaochu Elsevier 2017 Robotics and autonomous systems Vol.91 No.-
<P><B>Abstract</B></P> <P>Self-organised emergent patterns can be widely seen in natural and man-made complex systems generated by interactions among local components without external or global control. This paper presents a survey of recent research advances in self-organising pattern formation in mobile multi-robot (or swarm robotic) systems. Relevant pattern formation methods are reviewed with a special focus on biologically-inspired self-organising approaches inspired from macroscopic collective behaviours or microscopic multicellular developing mechanisms. As the ultimate goal of this review is to provide insight into pattern formation using real robots, limitations and considerations on dealing with a large number of robots are discussed. In addition, guided self-organisation is also discussed as a design strategy where the swarm robotic system may be endowed with local rules for generating desired global patterns.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Up-to-date review of advances in self-organising multi-robot pattern formation. </LI> <LI> Pattern formation inspired from macroscopic or microscopic biological mechanisms. </LI> <LI> Challenges in pattern formation using large-scale real robots. </LI> <LI> Guided self-organisation of swarm robotic system. </LI> </UL> </P>
Coordinated standoff tracking of moving target groups using multiple UAVs
Hyondong Oh,Seungkeun Kim,Hyo-sang Shin,Tsourdos, Antonios IEEE 2015 IEEE transactions on aerospace and electronic syst Vol.51 No.2
<P>This paper presents a methodology for coordinated standoff tracking of moving target groups using multiple unmanned aerial vehicles (UAVs). The vector field guidance approach for a single UAV is first applied to track a group of targets by defining a variable standoff orbit to be followed, which can keep all targets within the field-of-view of the UAV. A new feedforward term is included in the guidance command considering variable standoff distance, and the convergence of the vector field to the standoff orbit is analyzed and enhanced by adjusting radial velocity using two active measures associated with vector field generation. Moreover, for multiple group tracking by multiple UAVs, a two-phase approach is proposed as a suboptimal solution for a Non-deterministic Polynomial-time hard (NP-hard) problem, consisting of target clustering/assignment and cooperative standoff group tracking with online local replanning. Lastly, localization sensitivity to the group of targets is investigated for different angular separations between UAVs and sensing configurations. Numerical simulations are performed using randomly moving ground vehicles with multiple UAVs to verify the feasibility and benefit of the proposed approach.</P>
Hyondong Oh,Dae-Yeon Won,Sung-Sik Huh,David Hyunchul Shim,Min-Jea Tahk 한국항공우주학회 2010 International Journal of Aeronautical and Space Sc Vol.11 No.2
This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.
Hutchinson, Michael,Oh, Hyondong,Chen, Wen-Hua Elsevier 2017 Information fusion Vol.36 No.-
<P><B>Abstract</B></P> <P>Understanding atmospheric transport and dispersal events has an important role in a range of scenarios. Of particular importance is aiding in emergency response after an intentional or accidental chemical, biological or radiological (CBR) release. In the event of a CBR release, it is desirable to know the current and future spatial extent of the contaminant as well as its location in order to aid decision makers in emergency response. Many dispersion phenomena may be opaque or clear, thus monitoring them using visual methods will be difficult or impossible. In these scenarios, relevant concentration sensors are required to detect the substance where they can form a static network on the ground or be placed upon mobile platforms. This paper presents a review of techniques used to gain information about atmospheric dispersion events using static or mobile sensors. The review is concluded with a discussion on the current limitations of the state of the art and recommendations for future research.</P> <P><B>Highlights</B></P> <P> <UL> <LI> A review of techniques to gain information about atmospheric dispersion is presented. </LI> <LI> Optimisation- and Bayesian inference-based estimation methods are summarised. </LI> <LI> Mobile sensors provide an ideal platform for data gathering of atmospheric events. </LI> <LI> The current limitations and recommendations for future research is discussed. </LI> </UL> </P>
Entrotaxis as a strategy for autonomous search and source reconstruction in turbulent conditions
Hutchinson, Michael,Oh, Hyondong,Chen, Wen-Hua Elsevier 2018 Information fusion Vol.42 No.-
<P><B>Abstract</B></P> <P>This paper proposes a strategy for performing an efficient autonomous search to find an emitting source of sporadic cues of noisy information. We focus on the search for a source of unknown strength, releasing particles into the atmosphere where turbulence can cause irregular gradients and intermittent patches of sensory cues. Bayesian inference, implemented via the sequential Monte Carlo method, is used to update posterior probability distributions of the source location and strength in response to sensor measurements. Posterior sampling is then used to approximate a reward function, leading to the manoeuvre to where the entropy of the predictive distribution is the greatest. As it is developed based on the maximum entropy sampling principle, the proposed framework is termed as Entrotaxis. We compare the performance and search behaviour of Entrotaxis with the popular Infotaxis algorithm, for searching in sparse and turbulent conditions where typical gradient-based approaches become inefficient or fail. The algorithms are assessed via Monte Carlo simulations with simulated data and an experimental dataset. Whilst outperforming the Infotaxis algorithm in most of our simulated scenarios, by achieving a faster mean search time, the proposed strategy is also more computationally efficient during the decision making process.</P> <P> <UL> <P><B>highlights</B></P> <LI> Cognitive search and source term estimation strategy for a mobile sensor is proposed. </LI> <LI> Maximum entropy sampling principles are adopted to maximise the information gain. </LI> <LI> The proposed Entrotaxis strategy shows faster search time than the existing methods. </LI> </UL> </P>
Ngo Phong Nguyen,Hyondong Oh,Yoonsoo Kim,Jun Moon 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this paper, we propose the disturbance observer-based continuous super-twisting sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which both additive matched and mismatched disturbances exist. The objective is to show robustness and disturbance attenuation performances of the closed-loop system with the proposed DOBCSMC subject to general classes of matched and mismatched disturbances. We prove that the closed-loop system with the DOBCSMC guarantees both the finite-time reachability to the sliding surface and the finite-time stability of the controlled output to the origin. The simulation results demonstrate the effectiveness of the proposed DOBCSMC in terms of the disturbance attenuation, compared with the existing disturbance observer-based sliding mode control.