Development of Swarm Technology for Mobile Self-Organizing Networks. Identification of Dynamic Models

Abstract

In this paper, we present our methodology to unmanned aerial vehicles in order to enable the safe flight of multiple UAVs with one remote controller. Unmanned aerial vehicles are united in groups. The group of aircraft forms the so-called “swarm”. “Swarm” can carry out more difficult tasks than a sole aircraft. The problem of providing the minimum distance between devices in “swarm” appears here. The distance between the UAVs depends on a set of factors, both on control of devices, and on changes of the external environment. Authors offer to consider the dynamic model of “swarm” of the UAVs as an oscillatory system. The oscillatory system moves with a speed of the leading device. The minimum distance is provided with the minimum fluctuations. The considered oscillatory system has a number of features: First, a number of parameters of the oscillatory system changes in time, for example, the mass of drones owing to reduction of amount of fuel, expenditure of a payload, loss of parts of the drone change. Secondly, the structure of “swarm” changes that is connected with departure and arrival of drones in “swarm”, variation of an order of creation of drones, etc. Thirdly, “swarm” can consist from drones different in design, characteristics and equipment. Authors suggest using the set-theoretic approach for the description of structure and quantitative characteristics. The formalized description of topological model of drones is used that considers all the mentioned features. The model considers not only dynamic parameters, but also the variability of the structure of “swarm” and a slow change in dynamic parameters of UAVs.