A Multi-Agent System Using Decentralized Decision-Making Techniques for Area Surveillance and Intruder Monitoring

被引：5

作者：

Patrinopoulou, Niki ^{[1
]}

Daramouskas, Ioannis ^{[1
,2
]}

Meimetis, Dimitrios ^{[1
]}

Lappas, Vaios ^{[3
]}

Kostopoulos, Vassilios ^{[1
]}

机构：

[1] Univ Patras, Appl Mech Lab, Patras 26504, Greece

[2] Comp Technol Inst & Press Diophantus, N Kazantzaki Str,Univ Campus, Patras 26504, Greece

[3] Natl Kapodistrian Univ Athens, Dept Aerosp Sci & Technol, Athens 10563, Greece

来源：

DRONES | 2022年 / 6卷 / 11期

关键词：

real-time decision making; decentralized monitoring; swarm surveillance algorithm; autonomous quadcopters; swarm intelligence; TASK ALLOCATION PROBLEM;

D O I：

10.3390/drones6110357

中图分类号：

TP7 [遥感技术];

学科分类号：

081102 ; 0816 ; 081602 ; 083002 ; 1404 ;

摘要：

A decentralized swarm of quadcopters designed for monitoring an open area and detecting intruders is proposed. The system is designed to be scalable and robust. The most important aspect of the system is the swarm intelligent decision-making process that was developed. The rest of the algorithms essential for the system to be completed are also described. The designed algorithms were developed using ROS and tested with SITL simulations in the GAZEBO environment. The proposed approach was tested against two other similar surveilling swarms and one approach using static cameras. The addition of the real-time decision-making capability offers the swarm a clear advantage over similar systems, as depicted in the simulation results.

引用

页数：27

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