Robotic Systems PG

COMSM4111: Robotic Systems
COMSM0012: Robotic Systems PG
Coursework 2: UAV Swarm Simulation
Updated 27th November 2015 by Arthur Richards ([email protected])
1 Summary
For this coursework, you will create a software simulation of a swarm of UAVs tracking a pollutant
cloud. You will be provided with code to simulate the dispersal and movement of the cloud under
different conditions. In addition to simulating the movement of each UAV, you will design and
implement a guidance in a finite state machine to enable the swarm to spread out along the edge of
the cloud.

An RQ-11 Raven UAV Smoke plume from tyres burning in Renfrew (BBC)

2 Objectives
After successfully completing this coursework, you will be able to construct and evaluate a
simulation of a robotic system including:





a state space model of a robot’s physical dynamics, with appropriate discretization
a model of the environment and sensing
sensing noise and disturbances
finite state machine for guidance
multiple robot agents

3 Deliverables
3.1 Undergraduates (COMSM4111)

Due Name Contents Feeback Weight
Week 12, in
scheduled lab
session
Initial
test
Your initial code, shown to a demonstrator.
It must show a UAV moving and
responding to the pollutant cloud.
You do
not need to submit a report at this stage
.
Comments and
suggestions
from
demonstrator
5%
Monday Week
13, via SAFE
Code Matlab files containing all your final code
(
Note: the code deadline is deliberately set
ahead of the report deadline to require you
to freeze your development, evaluate your
solution and write your report.)
Pro forma
(see back)
22.5%
Friday Week 13,
via SAFE
Report Maximum 6 A4 sides, minimum 11pt font,
describing and evaluating your solution
Pro-forma
(see back)
22.5%

3.2 Postgraduates (COMSM0012)

Due Name Contents Feeback Weight
Monday Week
24, via SAFE
Code Matlab files containing all your final code
(
Note: the code deadline is deliberately set
ahead of the report deadline to require you
to freeze your development, evaluate your
solution and write your report.)
Pro forma
(see back)
25%
Friday Week 24,
via SAFE
Report Maximum 6 A4 sides, minimum 11pt font,
describing and evaluating your solution
Pro-forma
(see back)
25%

4 Tasks
You are recommended to tackle this assignment by breaking it down into the following tasks:
1. Create a Matlab simulation of the motion of a single UAV. Details of the dynamics model are
provided later in this handout.
2. Add the simulation of the pollutant cloud (provided to you) and give your UAV a very simple
response to the cloud, e.g. ‘change direction when you’re in it’, implemented in an initial
finite state machine.
3. Extend your finite state machine with more guidance behaviours to improve tracking quality.
4. Extend your simulation to include multiple UAVs, initially with the same guidance as before.
5. Extend your guidance system to avoid collisions and to encourage the swarm to spread out
along the cloud edge.

5 UAV Dynamics and Performance
The UAV is required to remain at constant altitude and we assume it is unaffected by wind. It can
move only in the direction it points, but it can turn. Its governing equations are: