ドローン群の初期フォーメーションを最適化する時間効率の良い優先度付きスケジューリングアルゴリズム
A Time-efficient Prioritised Scheduling Algorithm to Optimise Initial Flock Formation of Drones
各ドローンの衝突可能性に基づいて優先度を割り当て、衝突のない経路を確保する遅延を計算することで、最大5000機の群れの初期形成を効率的に行う手法を提案した。
著者: Sujan Warnakulasooriya, Andreas Willig, Xiaobing Wu
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
Drone applications continue to expand across various domains, with flocking offering enhanced cooperative capabilities but introducing significant challenges during initial formation. Existing flocking algorithms often struggle with efficiency and scalability, particularly when potential collisions force drones into suboptimal trajectories. This paper presents a time-efficient prioritised scheduling algorithm that improves the initial formation process of drone flocks. The method assigns each drone a priority based on its number of potential collisions and its likelihood of reaching its target position without permanently obstructing other drones. Using this hierarchy, each drone computes an appropriate delay to ensure a collision-free path. Simulation results show that the proposed algorithm successfully generates collision-free trajectories for flocks of up to 5000 drones and outperforms the coupling-degree-based heuristic prioritised planning method (CDH-PP) in both performance and computational efficiency.