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Aiming at the problem of inaccessible local communication link for unmanned aerial vehicle (UAV) formation caused by obstacles and electromagnetic interference in complex scenes, a cooperative search under loci communication (CSLC) method is proposed. Firstly, according to the real-time location of each UAV, the communication topology relation at the current time is calculated, thereby establishing a local intercommunication network of UAV formation. On this basis, considering the UAV communication capability and the formation cooperative target search capability, the cooperative search model based on the communication link stability benefit and the cooperative formation revenue is constructed. Finally, the constraints of the safety distance and maximum movement speed required for UAV formation are set to ensure that the model can obtain the feasible solution of the optimal path and improve the efficiency of multi-UAV cooperative search. The experimental results show that, compared with the existing target search methods, the CSLC method not only ensures the feasibility of cooperative path search, but also enhances the capability of multi-UAV cooperative search. [ABSTRACT FROM AUTHOR]

A coordinated autonomous control algorithm of unmanned aerial vehicle (UAV) swarm was proposed to reduce the complexity of UAV swarm control and solve the problem of changing topological structures in long-distance flight of UAV swarms efficiently. As the UAV swarms, especially fixed-wing ones, fly in a close formation, the influence and benefit of aerodynamic coupling between UAV in swarms should be considered. This paper focused on the application of biological swarm behavior mechanism, which can be used to form the shape of formation and adjust the topological structures of UAV swarm, and not the models of the aerodynamic coupling between UAVs in swarms. The distributed swarm control model of biological swarms based on the behavioral mechanism of Anser cygnoides formation was presented. A novel distributed swarm control system based on the behavioral mechanism of Anser cygnoides formation for low-cost UAVs was developed. Anser cygnoides is a common bird that lives in swarms. Its self-organizing network and formation topology behavior on the manner of migration exhibit high similarities with the application of UAV swarm. The paper designed an experimentation with a UAV swarm system using quadrotors, which communicate wirelessly using a Wi-Fi, to test and verify the feasibility of the proposed novel distributed swarm control algorithm. The field experimentation involved flying the five low-cost quadrotors in a “V” formation, and the position exchange of UAVs was achieved during the experimentation. The whole formation with the five quadrotors flew at a continuous speed during the whole experimentation, whereas the flight mode of fixed-wing UAV was simulated. The field experimentation shows that the formation mechanism of the migrant bird helps in realizing the distributed formation reconfiguration control of the UAV swarm and improves the robustness of the UAV swarm flight and verifies the feasibility of the novel distributed swarm control algorithm.

Metro emergency has always been the social concerned issues in which information diffusion is one of the most important concerns as sometimes it will decide the severity of the emergency. On the background of metro emergency, the local communication and bounded rationality as well as two stages:before and after the subway stops in the station are taken into account based on the traditional bounded confidence model to create the information diffusion model in metro emergency. On the basis of large amounts of simulation experiments, it is found that both local communication and bounded rationality will cause the opinions of passengers fluctuating severely and the whole opinion system in an unstable state but the passenger density has a positive effect on the opinions reaching a consensus. In the stage of subway stopping, the nearer passengers move to the subway door, the more severely the passengers' opinions fluctuate with the end of reaching a consensus sharply. But with evacuation speed increasing, the fluctuation of opinions is weaken. Results in the paper can be adapted to explain the phenomenon as well as the control of information diffusion in the metro emergency. [ABSTRACT FROM AUTHOR]