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Goal: Designing a predictable, reliable and deployable (real time) system on actual

vehicles in which swarm can roam around in a coordinated, well organized way while

keep themselves alive. These vehicles receives data from sensors such as velocity,

position, current discharge rate and control by generating appropriate signals to

actuators like throttle. Decisions are made based on current inputs from sensors andcurrent status of EG. All decisions must be made with in specified time. Communication

between sensors and actuators will be provided by message passing.

Problem Data:

Coordinates of gliding Energy Globe (EG) are unknown to swarm.

Swarms can be added to the system so my part is to ensure the maximum possible limit

(Number of swarms) this algorithm can keep.

To avoid a situation in which EG can become unreachable.

Mainly identification of concurrency and implementation of concurrent activities are

required to be implemented.

This Ada tasking model should be reliable enough; have an efficient wait mechanism,

provide for synchronisation, data communication and in particular mutual exclusion,

and should enable software to be designed that is free from deadlocks and indefinite

postponements [1].

Real world/Physical Constraint:

Vehicles can only be recharged if they pass three energy globes in any direction in fast

succession. The solution should be deployable on actual vehicles. Processor resources

e.g priority levels

Communication constraint:

It is only possible for the vehicles which are in close proximity.

Sensors and control:  Each vehicle has sensors for their own Position, Velocity,

Acceleration and current charge. Moreover, they also contain sensors to sense Energy

Globe (EG) from certain unknown limit. Actuators and throttle are responsible to steer

vehicle to the set position in space.

Resources: Processor

Resource optimisation: Wait_For_Next_Physics_Update allows us to design our system

more efficiently. No need to listen around until something actually happens.

My algorithm suggests the following steps:

One dimensional (Figure-1) only but it can be three dimensional (Figure-2) to maximise

the through put. Application works in distributed way

1.  Design Message queues to send messages to vehicles e. g. Queue is not full -

Asynchronous

2.  Always Act on recently updated message box

3.  Find Energy Globes (EG)

4.  Find inter vehicle communication range, discharge rates and record that figures

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5.  Calculate EG dimension and pathways to get recharged (Fast succession need to

be tuned)

6.  Align yourself with the defined rules and form first orbit

7.  1st   orbit vehicles are responsible to keep an eye on the EG, Keep on getting

recharge8.  All others who are listening go to the second orbit (orbit limits apply)

9.  Keep on exchanging positions with the opposite one in the same orbit to get

recharged

10. Keep an eye on current discharge rate

11. Dynamic priority for charging calculated as:

Dp = (Distance from the globe + Current charge)/2

12. If more vehicles adding up get immediate control and place in available orbit

13. Final orbit/maximum vehicle number depends on the distance from EG andlowest possible throttle position

14. Will become unpredictable if processor is overloaded

15. Activate Ravenscar profile

Rules:

1.  If successful to find EG at initial stage when energy of vehicle was satisfactory

(>50) then make first orbit around EG

2.  If all are unable to find globes up to a moment that they are running out ofenergy and suddenly anyone found EG then lowest charge (< 10%) four vehicle

with lowest distance (depends on discharge rate) will get the first orbit

3.  First orbit can only contain four vehicles and will be formed at lower slot of EG as

side view of Figure-1 shows

4.  2nd orbit:

a.  This orbit and all on ward orbits can contain vehicles up to a certain limit

as C = B (Figure 1&2) B = Communication range b/w different orbit

vehicles

5. 

Orbit to orbit and EG to orbit distance S = B, where B = Communication rangeb/w different orbit vehicles (This communication range needs to be find and

may be an iterated process)

6.  Once reached in orbit; default automatic swarming behaviour will start

7.  Vehicle getting recharged will raise its position

8.  For charging of vehicles

a.  If your charge is below threshold or EG corresponding runway is vacant

b.  Charging queue is based on current charge of all vehicles

9.  New pop up vehicles go to the most outer orbit and find your slot – orbit free/full

flag

*If all are unable to find globe for a long time then try again