Cross-Entropy as a Metric for the Robustness of Drone Swarms
Due to their growing number and increasing autonomy, drones and drone swarms are equipped with sophisticated algorithms that help them achieve mission objectives. Such algorithms vary in their quality such that their comparison requires a metric that would allow for their correct assessment. The nov...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Entropy |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1099-4300/22/6/597 |
| _version_ | 1797566887660355584 |
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| author | Piotr Cofta Damian Ledziński Sandra Śmigiel Marta Gackowska |
| author_facet | Piotr Cofta Damian Ledziński Sandra Śmigiel Marta Gackowska |
| author_sort | Piotr Cofta |
| collection | DOAJ |
| description | Due to their growing number and increasing autonomy, drones and drone swarms are equipped with sophisticated algorithms that help them achieve mission objectives. Such algorithms vary in their quality such that their comparison requires a metric that would allow for their correct assessment. The novelty of this paper lies in analysing, defining and applying the construct of cross-entropy, known from thermodynamics and information theory, to swarms. It can be used as a synthetic measure of the robustness of algorithms that can control swarms in the case of obstacles and unforeseen problems. Based on this, robustness may be an important aspect of the overall quality. This paper presents the necessary formalisation and applies it to a few examples, based on generalised unexpected behaviour and the results of collision avoidance algorithms used to react to obstacles. |
| first_indexed | 2024-03-10T19:32:44Z |
| format | Article |
| id | doaj.art-7833c6f57a0a43e7ab79eca003dc6836 |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-10T19:32:44Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-7833c6f57a0a43e7ab79eca003dc68362023-11-20T01:57:53ZengMDPI AGEntropy1099-43002020-05-0122659710.3390/e22060597Cross-Entropy as a Metric for the Robustness of Drone SwarmsPiotr Cofta0Damian Ledziński1Sandra Śmigiel2Marta Gackowska3Faculty of Telecommunications, Computer Science and Technology, UTP University of Science and Technology, 85-796 Bydgoszcz, PolandFaculty of Telecommunications, Computer Science and Technology, UTP University of Science and Technology, 85-796 Bydgoszcz, PolandFaculty of Telecommunications, Computer Science and Technology, UTP University of Science and Technology, 85-796 Bydgoszcz, PolandFaculty of Telecommunications, Computer Science and Technology, UTP University of Science and Technology, 85-796 Bydgoszcz, PolandDue to their growing number and increasing autonomy, drones and drone swarms are equipped with sophisticated algorithms that help them achieve mission objectives. Such algorithms vary in their quality such that their comparison requires a metric that would allow for their correct assessment. The novelty of this paper lies in analysing, defining and applying the construct of cross-entropy, known from thermodynamics and information theory, to swarms. It can be used as a synthetic measure of the robustness of algorithms that can control swarms in the case of obstacles and unforeseen problems. Based on this, robustness may be an important aspect of the overall quality. This paper presents the necessary formalisation and applies it to a few examples, based on generalised unexpected behaviour and the results of collision avoidance algorithms used to react to obstacles.https://www.mdpi.com/1099-4300/22/6/597entropycross-entropydronesswarmsrobustness |
| spellingShingle | Piotr Cofta Damian Ledziński Sandra Śmigiel Marta Gackowska Cross-Entropy as a Metric for the Robustness of Drone Swarms Entropy entropy cross-entropy drones swarms robustness |
| title | Cross-Entropy as a Metric for the Robustness of Drone Swarms |
| title_full | Cross-Entropy as a Metric for the Robustness of Drone Swarms |
| title_fullStr | Cross-Entropy as a Metric for the Robustness of Drone Swarms |
| title_full_unstemmed | Cross-Entropy as a Metric for the Robustness of Drone Swarms |
| title_short | Cross-Entropy as a Metric for the Robustness of Drone Swarms |
| title_sort | cross entropy as a metric for the robustness of drone swarms |
| topic | entropy cross-entropy drones swarms robustness |
| url | https://www.mdpi.com/1099-4300/22/6/597 |
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