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2 Annals of Computer Science and Information Systems

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A comprehensive framework for designing behavior of UAV swarms

Cybulski Piotr, Zieliński Zbigniew

Annals of Computer Science and Information Systems

2022

Vol. 32

173--180

This paper aims to present a method of designing the behavior of robotic swarms, emphasizing swarms of unmanned aerial vehicles using bigraphs. The method's primary goal is to define a set of actions to be performed in subsequent moments by the members of a swarm that lead to the completion of the given task. In addition to formal definitions, an example use case is also included to demonstrate how utilizing our method allows overcoming typical difficulties related to swarm robotics engineering. The example covers verifying non-functional requirements and scaling a task both horizontally and vertically.

A framework for autonomous UAV swarm behavior simulation

Cybulski Piotr

Annals of Computer Science and Information Systems

2019

Vol. 18

471--478

In the last several years a large interest in the unmanned aerial vehicles (UAVs) has been seen. This is mostly due to an increase of computational power and decreasing cost of the UAVs itself. One of an intensively researched area is an application of a swarm behavior within team of such UAVs. Simulation tools are one of the means with which quality of solutions in this matter can be measured. In this paper such simulation framework is proposed. The proposed framework is capable of taking under consideration interferences between communicating UAVs, as well as interaction between UAV and surrounding environment. Mathematical models based on which simulation is performed were described, definition of simulation scenario and results of exemplary simulation were also presented.