# Chaotic Mobility Models¶

In several mobility models, random processes are used to propose a non predictable behaviour. I propose to use chaotic systems to have both unpredictable trajectory and also moving patterns related to the chaotic dynamic.

## Chaotic walk¶

Introduced by Iba & Shimonshi [IBA11], the authors name it *chaotic walk*
because it only uses the logistic map

to determine the next angular direction of an entity.

The logistic permits to obtain values . An entity move with a constant speed.

With , the values obtained by the logistic map are not well
distributed over the interval and most of them are closed to the
boundary. If we choose to build a mobility model, the **logistic move**, where
the next position doesn’t depends on the previous one and only depends on the
logistic map value, it leads to a mobility models oriented in one direction
with variations: from the left to the right.

Let’s now consider the model proposed by [IBA11], the next angle is the sum of the previous one with the next one computed from the logistic map. Also, the authors use the parameter as the number of decimal of the value in the map.

## Mobility model based on the Rössler system¶

Our work is based on the work of Kuiper & Nadjm-Tehrani [KUI06] where
repulsive pheromones are used to cover an area in a Ant Colony Optimization
method. The purpose of the **CACOC mobility model** (*Chaotic Ant Colony
Optimization to Coverage*) is to combine a Ant Colony Optimization algorithm
with chaotic dynamics [ROS18]. This have been performed using the Rössler system and
it first return map to replace the random part dedicated to the exploration
process.

## Collision avoidance for CACOC¶

This work is extending CACOC by a Collision Avoidance (CA) mechanism and testing its efficiency in terms of area coverage by the UAV swarm. For this purpose, CACOC is used to com- pute UAV target waypoints which are tracked by model predictively controlled UAVs. The UAVs are represented by realistic motion models within the virtual robot experimentation platform (V-Rep). This environment is used to evaluate the performance of the proposed CACOC with CA algorithm in an area exploration scenario with 3 UAVs. Finally, its perfor- mance is analyzed using metrics.