scholarly journals Provisioning of Contention Resolution in Multiple UAVs to Establish Collaborative Tasks

2021 ◽  
Vol 1831 (1) ◽  
pp. 012019
Author(s):  
M Saravanan ◽  
Sandhya Baskaran
2021 ◽  
Author(s):  
Chris Moneyron ◽  
Moe Sakamoto ◽  
Mo Rastgaar ◽  
Nina Mahmoudian
Keyword(s):  

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 505-509 ◽  
Author(s):  
Ye HONG ◽  
Cunxiao MIAO ◽  
Xusheng LEI

Author(s):  
A. Agarwal ◽  
Lim Meng Hiot ◽  
Nguyen Trung Nghia ◽  
Er Meng Joo

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Sumit Chandra ◽  
Shahnaz Fatima ◽  
Raghuraj Singh Suryavanshi

AbstractIn the present scenario, data centers serve many functionalities like storage, transfer of data, supporting web applications, etc. In data centers, various levels of hierarchy different types of switches are required; therefore, multifunctional data centers are desired. This paper discusses a novel design for optical switch which can be placed at various levels of hierarchy. In the proposed design, multifunctionality contention resolution schemes which consider electronic and optical buffering and all-optical negative acknowledgment (AO-NACK) are considered. In buffering technologies, contending packets are stored in either in electronic RAM or in fiber delay lines. In case of the AO-NACK scheme, contending packets are blocked, and a negative acknowledgment is sent back to the transmitting node and blocked packets are retransmitted. For various considered schemes, Monte Carlo simulation have been performed, results in terms of packet loss probability are presented, and it has been found that the performance of optical buffering is much superior to electronic buffering and AO-NACK schemes. It is found that, in the AO-NACK scheme, the numbers of retransmitted packets due to contention blocking are 33,304 which can be reduced to 7, by using a small amount of buffer at each node.


2021 ◽  
Vol 11 (7) ◽  
pp. 3103
Author(s):  
Kyuman Lee ◽  
Daegyun Choi ◽  
Donghoon Kim

Collision avoidance (CA) using the artificial potential field (APF) usually faces several known issues such as local minima and dynamically infeasible problems, so unmanned aerial vehicles’ (UAVs) paths planned based on the APF are safe only in a certain environment. This research proposes a CA approach that combines the APF and motion primitives (MPs) to tackle the known problems associated with the APF. Since MPs solve for a locally optimal trajectory with respect to allocated time, the trajectory obtained by the MPs is verified as dynamically feasible. When a collision checker based on the k-d tree search algorithm detects collision risk on extracted sample points from the planned trajectory, generating re-planned path candidates to avoid obstacles is performed. After rejecting unsafe route candidates, one applies the APF to select the best route among the remaining safe-path candidates. To validate the proposed approach, we simulated two meaningful scenario cases—the presence of static obstacles situation with local minima and dynamic environments with multiple UAVs present. The simulation results show that the proposed approach provides smooth, efficient, and dynamically feasible pathing compared to the APF.


2021 ◽  
pp. 1-1
Author(s):  
Camilla Tabasso ◽  
Nicola Mimmo ◽  
Venanzio Cichella ◽  
Lorenzo Marconi

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