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Rasche, Christoph: A cooperative and verifiable UAV behavior for 3D environments. 2013
Inhalt
Acknowledgements
Zusammenfassung
Abstract
Table of Contents
Introduction
Motivation
Objectives and Contribution
Outline
Evolution of Autonomous Systems
Autonomous Systems in Nature
Ants
Bees
Flocks of Birds and Schools of Fish
Division of Labor
Autonomous Robotic Systems
Single Robot Control
Cooperative Behavior
Robot Control Areas
State-of-the-Art
Robots
UAV Path Planning
UAV Formation Flights
Cooperative UAV Behavior
Contrasting the Thesis
Summary
Cooperative Path Planning Foundations
Path Planning
Problem Statement
Configuration Space
Occupied Space
Free Space
Cell Decomposition
Potential Field Theory
Harmonic Functions
Formation Flights
Requirements
Bifurcation Theory
Cooperative Behavior
Task Creation
Multi-Robot Task Allocation
Verification
Lyapunov Stability
Lyapunov's Direct Method
LaSalle Theorem
Lyapunov's Indirect Method
Summary
Architectural System Design
System Overview
World Creation and Modeling
UAV Architecture
UAV World Model
Representation of Environmental Changes
Environment Mapping
Node Properties
Node Determination
UAV Configuration
UAV Camera Equipment
Communication
Summary
Decentralized UAV Flights
Problem Statement
State-of-the-Art
Harmonic Potential Field Computation
Dirichlet Boundary Condition
First Approximation
Relaxation
Performance Optimization
Algorithm
Path Planning
Exploratory Navigation
Verification
Lyapunov Function Candidate
Convergence
Summary
Behavioral Formation Flights
Problem Statement
State-of-the-Art
Bifurcating Potential Field
Formation Potential Field
Superpositioned Potential Field
Resulting Potential Fields
Overview of Formation Shapes
Formation Handling
Requirements
Formation Flights
Formation Rotation
Verification
Lyapunov Function Candidate
Local Convergence
Global Convergence
Conclusion
Summary
Cooperative Behavior
Problem Statement
Autonomous Task Creation
Task Allocation
State-of-the-Art
Task Handling Background
Task Properties and Definition
Division of Labor
Task Allocation Constraints
Task Handling
Autonomous Task Creation
Task Allocation
Summary
Evaluation
Assumptions
Experimental Setup
Measured Values and Parameter Settings
Decentralized Exploration
Known Environment
Unknown Environment
Exploration in Formation
Known Environment
Unknown Environment
Cooperative Behavior
Behavioral Exploration
Single UAV Obstacle Avoidance
Obstacle Avoidance in Formation
Single UAV Task Allocation
Multi-UAV Task Allocation
Conclusion
Summary
Summary and Outlook
Summary
Contributions
Outlook
Algorithms
Neighbor Finding
Flood Fill
Update Octree
Combine Octree
Harmonic Potential Field Calculations
Bifurcating Potential Field Calculations
Task Creation
Task Allocation
Definitions
Nomenclature
List of Figures
List of Tables
Own Publications Related to the Thesis
Bibliography
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