Cooperative UAV search strategy based on DMPC-AACO algorithm in restricted communication scenarios

Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.

Distributed cooperative task planning algorithm for multiple satellites in delayed communication environment

Multiple earth observing satellites need to communicate with each other to observe plenty of targets on the Earth together. The factors, such as external interference, result in satellite information interaction delays, which is unable to ensure the integrity and timeliness of the information on decision making for satellites. And the optimization of the planning result is affected. Therefore, the effect of communication delay is considered during the multi-satel ite coordinating process. For this problem, firstly, a distributed cooperative optimization problem for multiple satellites in the delayed communication environment is formulized. Secondly, based on both the analysis of the temporal sequence of tasks in a single satellite and the dynamically decoupled characteristics of the multi-satellite system, the environment information of multi-satellite distributed cooperative optimization is constructed on the basis of the directed acyclic graph（DAG）. Then, both a cooperative optimization decision making framework and a model are built according to the decentralized partial observable Markov decision process（DEC-POMDP）. After that, a satellite coordinating strategy aimed at different conditions of communication delay is mainly analyzed, and a unified processing strategy on communication delay is designed. An approximate cooperative optimization algorithm based on simulated annealing is proposed. Finally, the effectiveness and robustness of the method presented in this paper are verified via the simulation.

A Study on Rural Social Network and Village Planning Paradigm in China

Current village planning in China, which mostly draws on the experience from urban planning, is a rational planning model based on elite decision-making, resulting in many problems. Essentially, planning is a kind of institutional arrangement according to the demands of multiple actors under certain social context. Since actors and their behaviors in villages are far different from those in cities, leading to the reorganization of planning assumptions and prerequisites, village planning paradigms are prominently distinct from urban planning paradigms. This paper figures out the significance of social networks and argues that village planning is a kind of communicative planning based on endogenous order, referring to the paradigm development course of Western urban planning theories and the features of Chinese villages. In conclusion, it stresses that village planning should focus on social network and promote communication, coordination, and consensus-building, and accordingly planners should adjust their role.

An Algorithm for the Design of a Cost-Optimized Topology for the Fixed Part of a GSM Network

This paper proposes an algorithm to design a cost optimized topology for thefixed part of a mobile network. For the given locations of base stations and mobile switchingcenters, the algorithm decides the number and position of the base station controllers as well asthe way the base stations are connected to the base stations controllers.