• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.595-609
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• 2020

In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.

• Journal of Korea Game Society
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• v.9 no.2
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• pp.115-123
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• 2009

This paper proposes an algorithm to improve the performance of the spatial partitioning method for flocking behaviors. The core concept is to improve the performance by using the fact that even if a moving entity, boid in flock continuously changes its direction and position, its k-nearest neighbors, kNN to effect on decision of the next direction is not changed frequently. From the previous kNN, the method to check whether new kNN is changed or not is proposed in this paper and then the correctness of the proposed method is proved by two theorems. The proposed algorithm was implemented and its performance was compared with the conventional spatial partitioning method. The results of the comparison show that the proposed algorithm outperforms the conventional one by about 30% with respect to the number of frames per a second.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39A no.8
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• pp.488-490
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• 2014

This paper deals with distributed time and frequency synchronization algorithms using the flocking technique for OFDMA-based wireless mesh networks. We propose a time and frequency synchronization model taking into account channel propagation delays existing in wireless mesh networks, and analyze the convergence condition of the proposed synchronization algorithm. Convergence performance of the proposed synchronization algorithm is analyzed via computer simulation in terms of synchronization parameters in the time and frequency synchronization model.

• Journal of Korea Game Society
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• v.8 no.3
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• pp.87-95
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• 2008

This paper proposes an algorithm for efficient behaviors of boids which freely move and have no predefined position. By finding the kNN and computing the value of behavioral characteristic of a boid approximately, the proposed algorithm improves the conventional spatial partitioning one. To do this, this paper defines and uses the representative boid which has the average direction and position for a group of boids. The proposed algorithm was implemented and compared with the conventional one experimentally. The results of the experimental comparisons show that the proposed algorithm outperforms the conventional one about $-5{\sim}130%$ in terms of the ratio of the number of rendering frames per the second.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.499-502
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• 2018

We propose a wireless-powered multihop transmission scheme using inter-node cooperation in a linear network topology. The proposed protocol determines the energy transfer time for each node to make the lifetime of the each node be equal in order to maximize the lifetime of the multihop path. To make the lifetime of each node the same, we apply the flocking algorithm which imitates the behavior of a bird flock flying at the same velocity, so that the lifetime of the nodes is averaged locally. Simulation results show that the proposed algorithm can maximize the lifetime of the multihop path by making all nodes have the same lifetime.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2186-2188
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• 1998

In this paper, Fundamental rules governing group intelligence "arrangement" behavior of multiple number of autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for arrangement are generated from clustering the input-output data obtained from the arrangement algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the flocking group behavior.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.4
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• pp.35-41
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• 2002

To solve the large scale optimization problem approximately, various approaches have been introduced. They are mainly based on recent research advancement of simulations for evolutions, flocking, annealing, and interactions among organisms on artificial environments. The typical ones are simulated annealing(SA), artificial neural network(ANN), genetic algorithms(GA), tabu search(TS), etc. Recently the particle swarm optimization(PSO) has been introduced. The PSO simulates the process of birds flocking or fish schooling for food, as with the information of each agent Is share by other agents. The PSO technique has been applied to various optimization problems of which variables are continuous. However, there are seldom trials for visualization of searching process. This paper proposes a new visualization tool for searching process particle swarm optimization(PSO) algorithm. The proposed tool is effective for understanding the searching process of PSO method and educational for students.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.328-338
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• 2006

A new evolutionary computation technique, called particle swarm optimization(PSO), has been proposed and introduced recently. PSO has been inspired by the social behavior of flocking organisms, such as swarms of birds and fish schools and PSO is an algorithm that follows a collaborative population-based search model. Each particle of swarm flies around in a multidimensional search space looking for the optimal solution. Then, Particles adjust their position according to their own and their neighboring-particles experience. In this paper, characteristics of PSO such as mentioned are reviewed and compared with GA which is based on the evolutionary mechanism in natural selection. Also dimensionalities of PSO and GA are compared throughout numeric experimental studies. The comparative studies demonstrate that PSO is characterized as simple in concept, easy to implement, and computationally efficient and can generate a high-quality solution and stable convergence characteristic than GA.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.981-988
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• 2021

This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.

• The Journal of the Korea Contents Association
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• v.8 no.7
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• pp.26-34
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• 2008

Due to spread of movies or online games which are applied with computer animation techniques, we can easily see scenes where numerous characters appear. In the case of large-scale crowd animation, if one were to increase reality of the scene, features of system would be lowered, and if one were to increase functioning of system, reality of the scene would be lowered. In realizing large-scale crowd animation with seafloor environment as background, the paper analyzed and applied elements that affect behavioral types of fishes; and by using concept of crowd, the paper enabled each group or object to control their behavioral type; by comparing and contrasting real-time calculation method as calculation method for animation and hybrid calculation method which is mixed calculation method, the paper seeks to find a method that increases functioning of the system while also expresses natural scenes.