Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots

Debin Xia; Shuxiang Guo; Liwei Shi; Huiming Xing; Xihuan Hou; Zan Li; Mugen Zhou

doi:10.1109/ICMA49215.2020.9233537

Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots

Debin Xia
, Shuxiang Guo
, Liwei Shi
, Huiming Xing
, Xihuan Hou
, Zan Li
, Mugen Zhou

School of Medical Science and Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.

Original language	English
Title of host publication	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1263-1268
Number of pages	6
ISBN (Electronic)	9781728164151
DOIs	https://doi.org/10.1109/ICMA49215.2020.9233537
Publication status	Published - 13 Oct 2020
Event	17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China Duration: 13 Oct 2020 → 16 Oct 2020

Publication series

Name	2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference	17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Country/Territory	China
City	Beijing
Period	13/10/20 → 16/10/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Amphibious spherical robot
Multi-robot cooperation
Quadrotor observation
Target hunting

Access to Document

10.1109/ICMA49215.2020.9233537

Cite this

Xia, D., Guo, S., Shi, L., Xing, H., Hou, X., Li, Z., & Zhou, M. (2020). Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots. In 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 (pp. 1263-1268). Article 9233537 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA49215.2020.9233537

Xia, Debin ; Guo, Shuxiang ; Shi, Liwei et al. / Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots. 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1263-1268 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

@inproceedings{58eb4b127b154d7b8f320731eb3baa82,

title = "Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots",

abstract = "In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.",

keywords = "Amphibious spherical robot, Multi-robot cooperation, Quadrotor observation, Target hunting",

author = "Debin Xia and Shuxiang Guo and Liwei Shi and Huiming Xing and Xihuan Hou and Zan Li and Mugen Zhou",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

year = "2020",

month = oct,

day = "13",

doi = "10.1109/ICMA49215.2020.9233537",

language = "English",

series = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",

address = "United States",

}

Xia, D, Guo, S, Shi, L, Xing, H, Hou, X, Li, Z & Zhou, M 2020, Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots. in 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020., 9233537, 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1263-1268, 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020, Beijing, China, 13/10/20. https://doi.org/10.1109/ICMA49215.2020.9233537

Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots. / Xia, Debin; Guo, Shuxiang; Shi, Liwei et al.
2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1263-1268 9233537 (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots

AU - Xia, Debin

AU - Guo, Shuxiang

AU - Shi, Liwei

AU - Xing, Huiming

AU - Hou, Xihuan

AU - Li, Zan

AU - Zhou, Mugen

PY - 2020/10/13

Y1 - 2020/10/13

N2 - In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.

AB - In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.

KW - Amphibious spherical robot

KW - Multi-robot cooperation

KW - Quadrotor observation

KW - Target hunting

UR - https://www.scopus.com/pages/publications/85096527948

U2 - 10.1109/ICMA49215.2020.9233537

DO - 10.1109/ICMA49215.2020.9233537

M3 - Conference contribution

AN - SCOPUS:85096527948

T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

SP - 1263

EP - 1268

BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

Y2 - 13 October 2020 through 16 October 2020

ER -

Xia D, Guo S, Shi L, Xing H, Hou X, Li Z et al. Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots. In 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1263-1268. 9233537. (2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020). doi: 10.1109/ICMA49215.2020.9233537

Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots

Abstract

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UN SDGs

Keywords

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