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      Pigeon-Inspired Circular Formation Control for Multi-UAV System with Limited Target Information

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          Abstract

          The problem of cooperative circular formation with limited target information for multiple Unmanned Aerial Vehicle (UAV) system is addressed in this paper. A pigeon-inspired circular formation control method is proposed to form the desired circular distribution in a plane based on the intelligent pigeon behavior during hovering. To reach the goal of prescribed radius and angular distribution, the controller is designed consisting of a circular movement part and a formation distribution part. Therein, the circular movement part is designed to make each UAV rotate around the specified circle at the same angular speed only using the relative position between the UAV and the target. The formation distribution part could adjust the angular distance between each UAV and its neighbors with the jointly connected network to reduce communication cost. To smooth the speed variation, nonlinear PID-type method is delivered throughout the evolution of the system. The convergence analysis of the proposed control protocol is presented using Lyapunov theory and graph tools. The effectiveness of the proposed control strategies is demonstrated through numerical simulations.

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          Hierarchical group dynamics in pigeon flocks.

          Mate Nagy, Zsuzsa Ákos, Dora Biro … (2010)
          Animals that travel together in groups display a variety of fascinating motion patterns thought to be the result of delicate local interactions among group members. Although the most informative way of investigating and interpreting collective movement phenomena would be afforded by the collection of high-resolution spatiotemporal data from moving individuals, such data are scarce and are virtually non-existent for long-distance group motion within a natural setting because of the associated technological difficulties. Here we present results of experiments in which track logs of homing pigeons flying in flocks of up to 10 individuals have been obtained by high-resolution lightweight GPS devices and analysed using a variety of correlation functions inspired by approaches common in statistical physics. We find a well-defined hierarchy among flock members from data concerning leading roles in pairwise interactions, defined on the basis of characteristic delay times between birds' directional choices. The average spatial position of a pigeon within the flock strongly correlates with its place in the hierarchy, and birds respond more quickly to conspecifics perceived primarily through the left eye-both results revealing differential roles for birds that assume different positions with respect to flock-mates. From an evolutionary perspective, our results suggest that hierarchical organization of group flight may be more efficient than an egalitarian one, at least for those flock sizes that permit regular pairwise interactions among group members, during which leader-follower relationships are consistently manifested.
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            Context-dependent hierarchies in pigeons.

            Mate Nagy, Benjamin Pettit, Isabella Mariani … (2013)
            Hierarchical organization is widespread in the societies of humans and other animals, both in social structure and in decision-making contexts. In the case of collective motion, the majority of case studies report that dominant individuals lead group movements, in agreement with the common conflation of the terms "dominance" and "leadership." From a theoretical perspective, if social relationships influence interactions during collective motion, then social structure could also affect leadership in large, swarm-like groups, such as fish shoals and bird flocks. Here we use computer-vision-based methods and miniature GPS tracking to study, respectively, social dominance and in-flight leader-follower relations in pigeons. In both types of behavior we find hierarchically structured networks of directed interactions. However, instead of being conflated, dominance and leadership hierarchies are completely independent of each other. Although dominance is an important aspect of variation among pigeons, correlated with aggression and access to food, our results imply that the stable leadership hierarchies in the air must be based on a different set of individual competences. In addition to confirming the existence of independent and context-specific hierarchies in pigeons, we succeed in setting out a robust, scalable method for the automated analysis of dominance relationships, and thus of social structure, applicable to many species. Our results, as well as our methods, will help to incorporate the broader context of animal social organization into the study of collective behavior.
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              Speed Determines Leadership and Leadership Determines Learning during Pigeon Flocking.

              Benjamin Pettit, Zsuzsa Ákos, Tamás Vicsek … (2015)
              A key question in collective behavior is how individual differences structure animal groups, affect the flow of information, and give some group members greater weight in decisions. Depending on what factors contribute to leadership, despotic decisions could either improve decision accuracy or interfere with swarm intelligence. The mechanisms behind leadership are therefore important for understanding its functional significance. In this study, we compared pigeons' relative influence over flock direction to their solo flight characteristics. A pigeon's degree of leadership was predicted by its ground speeds from earlier solo flights, but not by the straightness of its previous solo route. By testing the birds individually after a series of flock flights, we found that leaders had learned straighter homing routes than followers, as we would expect if followers attended less to the landscape and more to conspecifics. We repeated the experiment from three homing sites using multiple independent flocks and found individual consistency in leadership and speed. Our results suggest that the leadership hierarchies observed in previous studies could arise from differences in the birds' typical speeds. Rather than reflecting social preferences that optimize group decisions, leadership may be an inevitable consequence of heterogeneous flight characteristics within self-organized flocks. We also found that leaders learn faster and become better navigators, even if leadership is not initially due to navigational ability. The roles that individuals fall into during collective motion might therefore have far-reaching effects on how they learn about the environment and use social information.
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                Author and article information

                Journal
                Title: Guidance, Navigation and Control
                Abbreviated Title: Guid. Navigat. Control
                Publisher: World Scientific Pub Co Pte Ltd
                ISSN (Print): 2737-4807
                ISSN (Electronic): 2737-4920
                Publication date Created: March 2021
                Publication date (Electronic): March 30 2021
                Publication date (Print): March 2021
                Volume: 01
                Issue: 01
                Page: 2150004
                Affiliations
                [1 ]Bio-inspired Autonomous Flight Systems Research Group, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, P. R. China
                [2 ]Shenyang Aircraft Design and Research Institute, Aviation Industry Corporation of China, Shenyang, Liaoning 110035, P. R. China
                Article
                DOI: 10.1142/S2737480721500047
                SO-VID: 70907759-adc9-441d-92b4-e3fd0c0ac51e
                Copyright © © 2021
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