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Dynamic Formation Reshaping Based on Point Set Registration in a Swarm of Drones

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Advances in Information and Communication (FICC 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1363))

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Abstract

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e. without slowing down. To address the first problem, we introduce a set of routines for the drones/agents to follow while reshaping to a secondary formation shape. And the second problem is resolved by utilizing the temperature function reduction technique, originally used in the point set registration process. The goal is to be able to dynamically reform the shape of multi-agent based swarm in near-optimal manner while going through narrow openings between, for instance obstacles, and then bringing the agents back to their original shape after passing through the narrow passage using point set registration technique.

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Acknowledgment

This work has been supported in part by the Academy of Finland-funded research project 314048 and Nokia Foundation (Award No. 20200147).

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Authors and Affiliations

  1. Autonomous Systems Laboratory, Department of Future Technologies, University of Turku, Vesilinnantie 5, 20500, Turku, Finland

    Jawad N. Yasin, Sherif A. S. Mohamed, Mohammad-Hashem Haghbayan, Jukka Heikkonen & Juha Plosila

  2. Department of Industrial and Medical Electronics, KTH Royal Institute of Technology, Brinellvägen 8, 114 28, Stockholm, Sweden

    Hannu Tenhunen

  3. Department of Computer Networks, College of Computer Sciences and Information Technology, King Faisal University, Hofuf, Saudi Arabia

    Muhammad Mehboob Yasin

Authors
  1. Jawad N. Yasin
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  2. Sherif A. S. Mohamed
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  3. Mohammad-Hashem Haghbayan
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  4. Jukka Heikkonen
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  5. Hannu Tenhunen
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  6. Muhammad Mehboob Yasin
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  7. Juha Plosila
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Corresponding author

Correspondence to Jawad N. Yasin .

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Editors and Affiliations

  1. Faculty of Science and Engineering, Saga University, Saga, Japan

    Kohei Arai

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Yasin, J.N. et al. (2021). Dynamic Formation Reshaping Based on Point Set Registration in a Swarm of Drones. In: Arai, K. (eds) Advances in Information and Communication. FICC 2021. Advances in Intelligent Systems and Computing, vol 1363. Springer, Cham. https://doi.org/10.1007/978-3-030-73100-7_42

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