Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164316
P. Zhang, Bin Du, Mou Chen
This paper studies a resilient algorithmic framework for solving the distributed min-max optimization problem against network communication attacks. Our algorithm builds on two key ingredients: i) a resilient convex combination scheme which helps eliminate the malicious information injected by the unidentifiable network attacks; and ii) a consensus-based distributed algorithm which solves min-max optimization over time-varying unbalanced directed graphs. We show that, under reasonable assumptions, e.g., attacked communication channels can be recovered within a certain time-window, the proposed algorithm converges to the exact global optimal solution which involves every attacked/non-attacked agent within the network. This result is primarily different from the existing relevant works whose the objective only includes local cost functions at the non-attacked agents.
{"title":"Resilient Distributed Min-Max Optimization under Byzantine Network Attacks","authors":"P. Zhang, Bin Du, Mou Chen","doi":"10.1109/ISAS59543.2023.10164316","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164316","url":null,"abstract":"This paper studies a resilient algorithmic framework for solving the distributed min-max optimization problem against network communication attacks. Our algorithm builds on two key ingredients: i) a resilient convex combination scheme which helps eliminate the malicious information injected by the unidentifiable network attacks; and ii) a consensus-based distributed algorithm which solves min-max optimization over time-varying unbalanced directed graphs. We show that, under reasonable assumptions, e.g., attacked communication channels can be recovered within a certain time-window, the proposed algorithm converges to the exact global optimal solution which involves every attacked/non-attacked agent within the network. This result is primarily different from the existing relevant works whose the objective only includes local cost functions at the non-attacked agents.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"7 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125660045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164344
RuoYan Yu, Bei Li, Sumu Shi, Cong Peng, YuNan Zhou, XiangYu Du
Model updating can reduce the reality gap between the digital space and physical space, which is essential for accurately building digital models of aviation equipment. However, with data requirements and the complexity of application environments continue to increase, traditional update techniques show great limitations. The main reason is that traditional update technologies are limited by computational efficiency, resulting in the inability to balance accuracy and real-time. In this work, we propose a model update method based on reinforcement learning to infer model parameters. The proposed method does not require any ground truth parameters. Experimental results on the twin-rotor turbofan engine model verify the superiority of the proposed method compared with other state-of-the-art methods.
{"title":"Learning to Update Engine Models with Deep Reinforcement Learning","authors":"RuoYan Yu, Bei Li, Sumu Shi, Cong Peng, YuNan Zhou, XiangYu Du","doi":"10.1109/ISAS59543.2023.10164344","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164344","url":null,"abstract":"Model updating can reduce the reality gap between the digital space and physical space, which is essential for accurately building digital models of aviation equipment. However, with data requirements and the complexity of application environments continue to increase, traditional update techniques show great limitations. The main reason is that traditional update technologies are limited by computational efficiency, resulting in the inability to balance accuracy and real-time. In this work, we propose a model update method based on reinforcement learning to infer model parameters. The proposed method does not require any ground truth parameters. Experimental results on the twin-rotor turbofan engine model verify the superiority of the proposed method compared with other state-of-the-art methods.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131392091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164387
Shangkun Liu, Bin Jiang, Zehui Mao, You-min Zhang
In this article, the distributed fault-tolerant time-varying formation control (FTTVFC) strategy is presented for the heterogeneous multiple UAVs and UGVs subject to actuator faults and external disturbances with directed communication topologies. The FTTVFC scheme is presented by utilizing the adaptive updating gains, boundary layer theory and radial basis function neural networks. According to Lyapunov function method, the formation errors are uniformly ultimately bounded (UUB). Finally, the simulation results verify the efficiency of the designed scheme.
{"title":"Distributed Fault-Tolerant Time-Varying Formation Control for Multiple UAVs and UGVs under Directed Topologies","authors":"Shangkun Liu, Bin Jiang, Zehui Mao, You-min Zhang","doi":"10.1109/ISAS59543.2023.10164387","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164387","url":null,"abstract":"In this article, the distributed fault-tolerant time-varying formation control (FTTVFC) strategy is presented for the heterogeneous multiple UAVs and UGVs subject to actuator faults and external disturbances with directed communication topologies. The FTTVFC scheme is presented by utilizing the adaptive updating gains, boundary layer theory and radial basis function neural networks. According to Lyapunov function method, the formation errors are uniformly ultimately bounded (UUB). Finally, the simulation results verify the efficiency of the designed scheme.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130135855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164623
Ze Guo, Chuan Li, Fang Qiu
Rapid integration test is one of the most important test contents before GNC subsystem delivers the whole satellite. The existing rapid integration test platform is derived from the rapid simulation and verification tool of the design process. It is not sufficient to verify the internal and external interface protocols and can not be equivalent to the telemetry control subsystem or data management subsystem. This paper proposes a rapid integration test platform based on Python, inherits the advantages of the existing rapid integration test platform in terms of running speed, encapsulates the core functions as dynamic link libraries for Python calls, and uses other Python functional modules to complete the equivalence of external subsystems, data decoding and interpretation. This paper discusses the solution of package interaction, operation framework, equivalence of other subsystems and telemetry data decoding and interpretation. Through the comparison of function completeness and running speed, and the demonstration of data decoding and interpretation function by specific parameter examples, it is proved that the new solution inherits the original advantages and effectively improves the function.
{"title":"The Satellite GNC Subsystem Rapid Assemble Test Platform Design Based on Python","authors":"Ze Guo, Chuan Li, Fang Qiu","doi":"10.1109/ISAS59543.2023.10164623","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164623","url":null,"abstract":"Rapid integration test is one of the most important test contents before GNC subsystem delivers the whole satellite. The existing rapid integration test platform is derived from the rapid simulation and verification tool of the design process. It is not sufficient to verify the internal and external interface protocols and can not be equivalent to the telemetry control subsystem or data management subsystem. This paper proposes a rapid integration test platform based on Python, inherits the advantages of the existing rapid integration test platform in terms of running speed, encapsulates the core functions as dynamic link libraries for Python calls, and uses other Python functional modules to complete the equivalence of external subsystems, data decoding and interpretation. This paper discusses the solution of package interaction, operation framework, equivalence of other subsystems and telemetry data decoding and interpretation. Through the comparison of function completeness and running speed, and the demonstration of data decoding and interpretation function by specific parameter examples, it is proved that the new solution inherits the original advantages and effectively improves the function.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131704343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164287
QuanPing Wang, Liang Liu, Xin Zhao
This paper mainly studies the automatic landing guidance system based on multi-scale asynchronous fusion algorithm, which can effectively improve the accuracy of landing. Firstly, on the basis of establishing the full nonlinear motion equations of six degrees freedom of carrier-based aircraft, a multi-mode guidance system composed of a variety of sensors is designed. Furthermore, in order to solve the problem of asynchronous information fusion combined with multi-mode guidance system, the adaptive unscented Kalman filter algorithm, multi-scale estimation theory and distributed federal filtering structure are adopted, and the sensors with different sampling frequencies are regarded as different scales, and the suboptimal estimation results are obtained through the local filter and sent to the main filter to obtain the global optimal estimation after fusion. Finally, the feasibility of the proposed algorithm is verified by simulation results.
{"title":"Automatic Landing Guidance Law Design for Carrier-based Aircraft based on Multi-mode Guidance System","authors":"QuanPing Wang, Liang Liu, Xin Zhao","doi":"10.1109/ISAS59543.2023.10164287","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164287","url":null,"abstract":"This paper mainly studies the automatic landing guidance system based on multi-scale asynchronous fusion algorithm, which can effectively improve the accuracy of landing. Firstly, on the basis of establishing the full nonlinear motion equations of six degrees freedom of carrier-based aircraft, a multi-mode guidance system composed of a variety of sensors is designed. Furthermore, in order to solve the problem of asynchronous information fusion combined with multi-mode guidance system, the adaptive unscented Kalman filter algorithm, multi-scale estimation theory and distributed federal filtering structure are adopted, and the sensors with different sampling frequencies are regarded as different scales, and the suboptimal estimation results are obtained through the local filter and sent to the main filter to obtain the global optimal estimation after fusion. Finally, the feasibility of the proposed algorithm is verified by simulation results.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115332930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164417
Jun Bian, Jianchun Zhang, Kexin Guo, Wenshuo Li, Xiang Yu, Lei Guo
In the presence of obstacles with static position uncertainty, a risk-aware path planning method using the conditional value-at-risk (CVaR) is proposed. Given the current position of the quadrotor, CVaR can effectively quantify the risk of collision with the static uncertain obstacle whose center of mass (CoM) follows a joint normal distribution. As a specific application of CVaR, the CVaR constrained A*(CVaR-A* for simplicity) algorithm is designed to search for the optimal path while ensuring the safety of the quadrotor. The simulation results are presented to indicate the feasibility and effectiveness of the proposed CVaR-A* algorithm.
针对存在静态位置不确定性障碍物的情况，提出了一种基于条件风险值(CVaR)的风险感知路径规划方法。在给定四旋翼飞行器当前位置的情况下，CVaR可以有效地量化与质心服从联合正态分布的静态不确定障碍物的碰撞风险。作为CVaR的具体应用，设计了CVaR约束a *(简称CVaR- a *)算法，在保证四旋翼飞行器安全的前提下，寻找最优路径。仿真结果表明了所提出的CVaR-A*算法的可行性和有效性。
{"title":"Risk-Aware Path Planning Using CVaR for Quadrotors","authors":"Jun Bian, Jianchun Zhang, Kexin Guo, Wenshuo Li, Xiang Yu, Lei Guo","doi":"10.1109/ISAS59543.2023.10164417","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164417","url":null,"abstract":"In the presence of obstacles with static position uncertainty, a risk-aware path planning method using the conditional value-at-risk (CVaR) is proposed. Given the current position of the quadrotor, CVaR can effectively quantify the risk of collision with the static uncertain obstacle whose center of mass (CoM) follows a joint normal distribution. As a specific application of CVaR, the CVaR constrained A*(CVaR-A* for simplicity) algorithm is designed to search for the optimal path while ensuring the safety of the quadrotor. The simulation results are presented to indicate the feasibility and effectiveness of the proposed CVaR-A* algorithm.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116989290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164562
Y. Li, Kangcheng Wang, Yu Kang, Yunbo Zhao, Peng Bai
With the increasing complexity of the circuit board, the cost of the board-level functional test becomes dramatically high. Data-driven-based test selection methods have been widely studied for test-cost reduction. However, existing test selection methods tend to overfit due to overlooking the root causes of faulty boards. To address this issue, a test selection method based on fault tree analysis is proposed. A fault tree oriented to the board-level functional test is established for analyzing the reliability of the board and test items. The reliability analysis result is then utilized to design a test strategy. Three indices are introduced to evaluate the test efficiency and the test quality. Experimental results demonstrate the effectiveness of the proposed method.
{"title":"Board-level Functional Test Selection Based on Fault Tree Analysis","authors":"Y. Li, Kangcheng Wang, Yu Kang, Yunbo Zhao, Peng Bai","doi":"10.1109/ISAS59543.2023.10164562","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164562","url":null,"abstract":"With the increasing complexity of the circuit board, the cost of the board-level functional test becomes dramatically high. Data-driven-based test selection methods have been widely studied for test-cost reduction. However, existing test selection methods tend to overfit due to overlooking the root causes of faulty boards. To address this issue, a test selection method based on fault tree analysis is proposed. A fault tree oriented to the board-level functional test is established for analyzing the reliability of the board and test items. The reliability analysis result is then utilized to design a test strategy. Three indices are introduced to evaluate the test efficiency and the test quality. Experimental results demonstrate the effectiveness of the proposed method.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"375 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116467666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper focuses on the cooperative path planning of multi-target heterogeneous unmanned systems in air-sea. In the face of multiple targets, Unmanned Aerial Vehicles (UAV) flies fast, but its range and load capacity are limited; Unmanned Surface Vehicles (USV) has strong load capacity and long endurance, but its navigation speed is slow. This paper studies the path planning problem of the air-sea heterogeneous unmanned system composed of UAVs and USVs for a large range and multiple targets, taking the time for the unmanned system to complete this task as the optimization objective. Firstly, distinguish targets with ReConDensity-Ratio based clustering algorithm, and find appropriate refueling points for UAVs and USVs in each classification. Secondly, the Double-deck Travel Modified Particle Swarm Optimization algorithm (DT-MPSO) is used to plan the path of targets and find the shortest route. Finally, the effectiveness of the proposed method is verified by simulation experiments.
{"title":"Multi-target Cooperative Path Planning for Air-Sea Heterogeneous Unmanned System","authors":"Shaoxin Qin, Xingwang Yang, Wangcheng Zhang, Mingyang Sun, Xingyu Liu, Z. Zhen","doi":"10.1109/ISAS59543.2023.10164371","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164371","url":null,"abstract":"This paper focuses on the cooperative path planning of multi-target heterogeneous unmanned systems in air-sea. In the face of multiple targets, Unmanned Aerial Vehicles (UAV) flies fast, but its range and load capacity are limited; Unmanned Surface Vehicles (USV) has strong load capacity and long endurance, but its navigation speed is slow. This paper studies the path planning problem of the air-sea heterogeneous unmanned system composed of UAVs and USVs for a large range and multiple targets, taking the time for the unmanned system to complete this task as the optimization objective. Firstly, distinguish targets with ReConDensity-Ratio based clustering algorithm, and find appropriate refueling points for UAVs and USVs in each classification. Secondly, the Double-deck Travel Modified Particle Swarm Optimization algorithm (DT-MPSO) is used to plan the path of targets and find the shortest route. Finally, the effectiveness of the proposed method is verified by simulation experiments.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124102786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164360
Yacun Guan, Bin Jiang
This paper proposes a formation control method based on the continuum model for the UAV swarm with the dynamic graph where all UAVs are deployed to the target position under the minimal system cost subject to collisions-free. A heat flow system is proposed to generate all UAVs’ the shortest length trajectories connecting the initial position and target position by using a Riemannian metric on the differentiable manifold including states of all UAVs. The UAVs’ controls are then extracted by these trajectories. Simulation results show the effectiveness of the theoretical results.
{"title":"Heat Flow-based Formation Control for UAV Swarms with Dynamic Graph*","authors":"Yacun Guan, Bin Jiang","doi":"10.1109/ISAS59543.2023.10164360","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164360","url":null,"abstract":"This paper proposes a formation control method based on the continuum model for the UAV swarm with the dynamic graph where all UAVs are deployed to the target position under the minimal system cost subject to collisions-free. A heat flow system is proposed to generate all UAVs’ the shortest length trajectories connecting the initial position and target position by using a Riemannian metric on the differentiable manifold including states of all UAVs. The UAVs’ controls are then extracted by these trajectories. Simulation results show the effectiveness of the theoretical results.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124479827","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-23DOI: 10.1109/ISAS59543.2023.10164531
Ru Wan, Xinhua Wang, Ziyuan Ma
Aiming at the problem that the global path optimization cannot be guaranteed in the dynamic path planning of rotorcraft formation, a static path planning and dynamic obstacle avoidance algorithm combining the improved whale optimization algorithm and dynamic artificial potential field method is proposed. The optimization results of whale optimization algorithm are greatly affected by the distribution of initial solutions. The paper proposes to combine the hierarchical system of grey wolf optimization algorithm with the standard whale algorithm, and incorporate the first three historical optimal solutions into the calculation range of potential optimal solutions to improve the ability of the population to escape from the value of local minimum. The commonly used artificial potential field method includes the problem of target reachability and local minima. This paper improves the classical exclusion function model. On the basis of the improved model, the dynamic potential field model is added to realize the avoidance of dynamic obstacles. The simulation results show that the path planning ability of rotorcraft UAVs has been improved through the improvement of whale optimization algorithm and artificial potential field model, and the formation UAVs have the static path planning and dynamic obstacle avoidance ability. At the same time, it has great advantages in convergence speed and solution accuracy.
{"title":"UAV route planning based on improved whale optimization algorithm and dynamic artificial potential field method","authors":"Ru Wan, Xinhua Wang, Ziyuan Ma","doi":"10.1109/ISAS59543.2023.10164531","DOIUrl":"https://doi.org/10.1109/ISAS59543.2023.10164531","url":null,"abstract":"Aiming at the problem that the global path optimization cannot be guaranteed in the dynamic path planning of rotorcraft formation, a static path planning and dynamic obstacle avoidance algorithm combining the improved whale optimization algorithm and dynamic artificial potential field method is proposed. The optimization results of whale optimization algorithm are greatly affected by the distribution of initial solutions. The paper proposes to combine the hierarchical system of grey wolf optimization algorithm with the standard whale algorithm, and incorporate the first three historical optimal solutions into the calculation range of potential optimal solutions to improve the ability of the population to escape from the value of local minimum. The commonly used artificial potential field method includes the problem of target reachability and local minima. This paper improves the classical exclusion function model. On the basis of the improved model, the dynamic potential field model is added to realize the avoidance of dynamic obstacles. The simulation results show that the path planning ability of rotorcraft UAVs has been improved through the improvement of whale optimization algorithm and artificial potential field model, and the formation UAVs have the static path planning and dynamic obstacle avoidance ability. At the same time, it has great advantages in convergence speed and solution accuracy.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"70 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126155719","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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