文章基本信息

标题：Love Thy Neighbor: V-Formation as a Problem of Model Predictive Control (Invited Paper)
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作者：Junxing Yang ; Radu Grosu ; Scott A. Smolka 等
期刊名称：LIPIcs : Leibniz International Proceedings in Informatics
电子版ISSN：1868-8969
出版年度：2016
卷号：59
页码：4:1-4:5
DOI：10.4230/LIPIcs.CONCUR.2016.4
出版社：Schloss Dagstuhl -- Leibniz-Zentrum fuer Informatik
摘要：We present a new formulation of the V-formation problem for migrating birds in terms of model predictive control (MPC). In our approach, to drive a collection of birds towards a desired formation, an optimal velocity adjustment (acceleration) is performed at each time-step on each bird's current velocity using a model-based prediction window of $T$ time-steps. We present both centralized and distributed versions of this approach. The optimization criteria we consider are based on fitness metrics of candidate accelerations that birds in a V-formations are known to benefit from, including velocity matching, clear view, and upwash benefit. We validate our MPC-based approach by showing that for a significant majority of simulation runs, the flock succeeds in forming the desired formation. Our results help to better understand the emergent behavior of formation flight, and provide a control strategy for flocks of autonomous aerial vehicles.
关键词：bird flocking; v-formation; model predictive control; particle swarm optimization