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Journal article
Entropy-Based Distributed Behavior Modeling for Multi-Agent UAVs
Drones (Basel), Vol.6(7), p.164
07/01/2022
Web of Science ID: WOS:000831428500001
Abstract
This study presents a novel distributed behavior model for multi-agent unmanned aerial vehicles (UAVs) based on the entropy of the system. In the developed distributed behavior model, when the entropy of the system is high, the UAVs get closer to reduce the overall entropy; this is called the grouping phase. If the entropy is less than the predefined threshold, then the UAVs switch to the mission phase and proceed to a global goal. Computer simulations are performed in AirSim, an open-source, cross-platform simulator. Comprehensive parameter analysis is performed, and parameters with the best results are implemented in multiple-waypoint navigation experiments. The results show the feasibility of the concept and the effectiveness of the distributed behavior model for multi-agent UAVs.
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- Title
- Entropy-Based Distributed Behavior Modeling for Multi-Agent UAVs
- Publication Details
- Drones (Basel), Vol.6(7), p.164
- Resource Type
- Journal article
- Publisher
- MDPI
- Format
- pdf
- Number of pages
- 19
- Grant note
- FA864921P1400 / AFWERX, U.S. Air Force SBIR/STTR grant
- Copyright
- © 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/)
- Identifiers
- WOS:000831428500001; 99380168497006600
- Academic Unit
- Intelligent Systems and Robotics
- Language
- English