@InProceedings{Supelec884,
author = {Laurent Ciarletta and Adrien Guénard and Yannick Presse and Virginie Galtier and Ye-Qiong Song and Jean-Christophe Ponsart and Samir Aberkane and Didier Theilliol},
title = {{Simulation and Platform Tools to develop safe flock of UAVs : a CPS Application-Driven Research}},
year = {2014},
booktitle = {{International Conference on Unmanned Aircraft Systems}},
month = {May},
abstract = {Autonomous formation flying (flocking) of UAVs
requires coordination of efforts and solutions in multiple
research fields (robotics, wireless sensor networks to name a
few). The Airborne Embedded auTonomOUs Robust Network
of Objects and Sensors (AETOURNOS) project is designed as
a federative, fueling platform and global evaluation tool. It
has
spawned another collaborative project bridging the gap between
Computer Science and Automation : 6PO (Cyber-Physical
Systems and Cooperative Control of a Fleet of UAVs) . We want
to investigate new flocking strategies, mobility-aware
communication
protocols (and reciprocally: movements influenced by
network QoS), and to ease the cooperation between experts, we
need co-simulation solutions, and ”universal” control
interfaces.
This article presents our first contribution to this grand
scheme:
a stand-alone simulation of an autonomous flocking strategy
taking into account both the dynamics of the UAVs and their
communications, which has allowed us to examine the relation
between network unreliability and control computation. To
better study the influence of the communication network, we
present an architecture coupling a dedicated network simulator
with the UAVs simulator, as well as with a real drone piloting
interface. The lessons learned help us build a research and
action plan for the years to come.}
}