北美CS作业代写 机器人群体

2020-03-28 00:08

北美CS作业代写 机器人群体
When designing communication networks for UAV swarms, elements like topology, bandwidth, communication range, and protocol must be carefully taken into consideration to ensure reliable and secure communications. Networks are infrastructure-based, ad-hoc or some combination of both based on the desired topology [3]. In an infrastructure-based swarm network, UAVs do not communicate within the swarm rather they communicate with a ground control station (GCS). UAVs are organized in a star topology. The swarm are dependent on this central authority for coordination. If the communication between the swarm with the GCS is compromised because a cyber-attack or a failure of the GCS, the swarm will fail to operate reliably. Communication range is also limited as all robots need to be in proximity of the GCS. Ad hoc networks do not rely on existing infrastructure or a central authority and individual robots directly communicate with each other independently. Ad-hoc networks utilize a mesh topology which means if one node fails, data can be routed through another path, thereby enhancing robustness. Most research related to UAV swarm communication has been done using one of two communication networks: Flying ad-hoc network (FANET) and Mobile ad-hoc network (MANET) [3]. FANET is a hybrid swarm communication architecture that relies on a lead node to communicate with the GCS and to relay information to the rest of the swarm [4]. In this architecture, UAVs can communicate with each other directly but only the lead node can communicate with the GCS. This only partially solves the problem of distributed decision making in infrastructure-based swarm architectures because severed communication between the GCS and the lead node can still result in swarm failure. Another problem is that the UAV lead has to be in close range of the GCS. Fig. 1 illustrates how communication is done in FANET. MANET is an ad hoc network where UAVs communicate with each other without the need for a central authority [3]. Because it is decentralized, decision making is distributed, as shown in Fig. 2. Compared to FANET, this type of architecture presents some advantages in term of security. Attacking a UAV in this architecture does not significantly impact the overall swarm security.
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