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Invited Paper

DOI: 10.4230/LIPIcs.CONCUR.2016.4

Love Thy Neighbor: V-Formation as a Problem of Model Predictive Control (Invited Paper)

Authors: Junxing Yang, Radu Grosu, Scott A. Smolka, and Ashish Tiwari

Published in: LIPIcs, Volume 59, 27th International Conference on Concurrency Theory (CONCUR 2016)

Abstract

We present a new formulation of the V-formation problem for migrating birds in terms of model predictive control (MPC). In our approach, to drive a collection of birds towards a desired formation, an optimal velocity adjustment (acceleration) is performed at each time-step on each bird's current velocity using a model-based prediction window of $T$ time-steps. We present both centralized and distributed versions of this approach. The optimization criteria we consider are based on fitness metrics of candidate accelerations that birds in a V-formations are known to benefit from, including velocity matching, clear view, and upwash benefit. We validate our MPC-based approach by showing that for a significant majority of simulation runs, the flock succeeds in forming the desired formation. Our results help to better understand the emergent behavior of formation flight, and provide a control strategy for flocks of autonomous aerial vehicles.

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Junxing Yang, Radu Grosu, Scott A. Smolka, and Ashish Tiwari. Love Thy Neighbor: V-Formation as a Problem of Model Predictive Control (Invited Paper). In 27th International Conference on Concurrency Theory (CONCUR 2016). Leibniz International Proceedings in Informatics (LIPIcs), Volume 59, pp. 4:1-4:5, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2016)

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@InProceedings{yang_et_al:LIPIcs.CONCUR.2016.4,
  author =	{Yang, Junxing and Grosu, Radu and Smolka, Scott A. and Tiwari, Ashish},
  title =	{{Love Thy Neighbor: V-Formation as a Problem of Model Predictive Control}},
  booktitle =	{27th International Conference on Concurrency Theory (CONCUR 2016)},
  pages =	{4:1--4:5},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-017-0},
  ISSN =	{1868-8969},
  year =	{2016},
  volume =	{59},
  editor =	{Desharnais, Jos\'{e}e and Jagadeesan, Radha},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CONCUR.2016.4},
  URN =		{urn:nbn:de:0030-drops-61896},
  doi =		{10.4230/LIPIcs.CONCUR.2016.4},
  annote =	{Keywords: bird flocking, v-formation, model predictive control, particle swarm optimization}
}

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Love Thy Neighbor: V-Formation as a Problem of Model Predictive Control (Invited Paper)

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