Cellular Automata Applications in Shortest Path Problem

Cellular Automata (CAs) are computational models that can capture the essential features of systems in which global behavior emerges from the collective effect of simple components, which interact locally. During the last decades, CAs have been extensively used for mimicking several natural processes and systems to find fine solutions in many complex hard to solve computer science and engineering problems. Among them, the shortest path problem is one of the most pronounced and highly studied problems that scientists have been trying to tackle by using a plethora of methodologies and even unconventional approaches. The proposed solutions are mainly justified by their ability to provide a correct solution in a better time complexity than the renowned Dijkstra's algorithm. Although there is a wide variety regarding the algorithmic complexity of the algorithms suggested, spanning from simplistic graph traversal algorithms to complex nature inspired and bio-mimicking algorithms, in this chapter we focus on the successful application of CAs to shortest path problem as found in various diverse disciplines like computer science, swarm robotics, computer networks, decision science and biomimicking of biological organisms' behaviour. In particular, an introduction on the first CA-based algorithm tackling the shortest path problem is provided in detail. After the short presentation of shortest path algorithms arriving from the relaxization of the CAs principles, the application of the CA-based shortest path definition on the coordinated motion of swarm robotics is also introduced. Moreover, the CA based application of shortest path finding in computer networks is presented in brief. Finally, a CA that models exactly the behavior of a biological organism, namely the Physarum's behavior, finding the minimum-length path between two points in a labyrinth is given.Comment: To appear in the book: Adamatzky, A (Ed.) Shortest path solvers. From software to wetware. Springer, 201

A Nature inspired guidance system for unmanned autonomous vehicles employed in a search role.

Since the very earliest days of the human race, people have been studying animal behaviours. In those early times, being able to predict animal behaviour gave hunters the advantages required for success. Then, as societies began to develop this gave way, to an extent, to agriculture and early studies, much of it trial and error, enabled farmers to successfully breed and raise livestock to feed an ever growing population. Following the advent of scientific endeavour, more rigorous academic research has taken human understanding of the natural world to much greater depth. In recent years, some of this understanding has been applied to the field of computing, creating the more specialised field of natural computing. In this arena, a considerable amount of research has been undertaken to exploit the analogy between, say, searching a given problem space for an optimal solution and the natural process of foraging for food. Such analogies have led to useful solutions in areas such as numerical optimisation and communication network management, prominent examples being ant colony systems and particle swarm optimisation; however, these solutions often rely on well-defined fitness landscapes that may not always be available. One practical application of natural computing may be to create behaviours for the control of autonomous vehicles that would utilise the findings of ethological research, identifying the natural world behaviours that have evolved over millennia to surmount many of the problems that autonomous vehicles find difficult; for example, long range underwater navigation or obstacle avoidance in fast moving environments. This thesis provides an exploratory investigation into the use of natural search strategies for improving the performance of autonomous vehicles operating in a search role. It begins with a survey of related work, including recent developments in autonomous vehicles and a ground breaking study of behaviours observed within the natural world that highlights general cooperative group behaviours, search strategies and communication methods that might be useful within a wider computing context beyond optimisation, where the information may be sparse but new paradigms could be developed that capitalise on research into biological systems that have developed over millennia within the natural world. Following this, using a 2-dimensional model, novel research is reported that explores whether autonomous vehicle search can be enhanced by applying natural search behaviours for a variety of search targets. Having identified useful search behaviours for detecting targets, it then considers scenarios where detection is lost and whether natural strategies for re-detection can improve overall systemic performance in search applications. Analysis of empirical results indicate that search strategies exploiting behaviours found in nature can improve performance over random search and commonly applied systematic searches, such as grids and spirals, across a variety of relative target speeds, from static targets to twice the speed of the searching vehicles, and against various target movement types such as deterministic movement, random walks and other nature inspired movement. It was found that strategies were most successful under similar target-vehicle relationships as were identified in nature. Experiments with target occlusion also reveal that natural reacquisition strategies could improve the probability oftarget redetection

A nature inspired guidance system for unmanned autonomous vehicles employed in a search role

Since the very earliest days of the human race, people have been studying animal behaviours. In those early times, being able to predict animal behaviour gave hunters the advantages required for success. Then, as societies began to develop this gave way, to an extent, to agriculture and early studies, much of it trial and error, enabled farmers to successfully breed and raise livestock to feed an ever growing population. Following the advent of scientific endeavour, more rigorous academic research has taken human understanding of the natural world to much greater depth. In recent years, some of this understanding has been applied to the field of computing, creating the more specialised field of natural computing. In this arena, a considerable amount of research has been undertaken to exploit the analogy between, say, searching a given problem space for an optimal solution and the natural process of foraging for food. Such analogies have led to useful solutions in areas such as numerical optimisation and communication network management, prominent examples being ant colony systems and particle swarm optimisation; however, these solutions often rely on well-defined fitness landscapes that may not always be available. One practical application of natural computing may be to create behaviours for the control of autonomous vehicles that would utilise the findings of ethological research, identifying the natural world behaviours that have evolved over millennia to surmount many of the problems that autonomous vehicles find difficult; for example, long range underwater navigation or obstacle avoidance in fast moving environments. This thesis provides an exploratory investigation into the use of natural search strategies for improving the performance of autonomous vehicles operating in a search role. It begins with a survey of related work, including recent developments in autonomous vehicles and a ground breaking study of behaviours observed within the natural world that highlights general cooperative group behaviours, search strategies and communication methods that might be useful within a wider computing context beyond optimisation, where the information may be sparse but new paradigms could be developed that capitalise on research into biological systems that have developed over millennia within the natural world. Following this, using a 2-dimensional model, novel research is reported that explores whether autonomous vehicle search can be enhanced by applying natural search behaviours for a variety of search targets. Having identified useful search behaviours for detecting targets, it then considers scenarios where detection is lost and whether natural strategies for re-detection can improve overall systemic performance in search applications. Analysis of empirical results indicate that search strategies exploiting behaviours found in nature can improve performance over random search and commonly applied systematic searches, such as grids and spirals, across a variety of relative target speeds, from static targets to twice the speed of the searching vehicles, and against various target movement types such as deterministic movement, random walks and other nature inspired movement. It was found that strategies were most successful under similar target-vehicle relationships as were identified in nature. Experiments with target occlusion also reveal that natural reacquisition strategies could improve the probability oftarget redetection.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the vertices of a triangular grid during the search procedure. The main advantage of using a triangular grid pattern is that it is asymptotically optimal in terms of the minimum number of robots required for the complete coverage of an arbitrary bounded area. We use a new topological map which is made and shared by robots during the search operation. We consider an area that is unknown to the robots a priori with an arbitrary shape, containing some obstacles. Unlike many current heuristic algorithms, we give mathematically proofs of convergence of the algorithms. The computer simulation results for the proposed algorithms are presented using a simulator of real robots and environment. We evaluate the performance of the algorithms via experiments with real robots. We compare the performance of our own algorithms with three existing algorithms from other researchers. The results demonstrate the merits of our proposed solution. A further study on formation building with obstacle avoidance for a team of mobile robots is presented in this report. We propose a decentralized formation building with obstacle avoidance algorithm for a group of mobile robots to move in a defined geometric configuration. Furthermore, we consider a more complicated formation problem with a group of anonymous robots; these robots are not aware of their position in the final configuration and need to reach a consensus during the formation process. We propose a randomized algorithm for the anonymous robots that achieves the convergence to a desired configuration with probability 1. We also propose a novel obstacle avoidance rule, used in the formation building algorithm.Comment: arXiv admin note: substantial text overlap with arXiv:1402.5188 by other author

Soundings: the Newsletter of the Monterey Bay Chapter of the American Cetacean Society. 2012

Issues January - November/December 2012. (PDF contains 88 pages

Proceedings fo the Seventeenth Annual Sea Turtle Symposium, 4-8 March 1997, Orlando, Florida, U.S.A.

The 17th Annual Sea Turtle Symposium was held at the Delta Orlando Resort in Orlando, Florida U.S.A. from March 4-8, 1997. The symposium was hosted by Florida Atlantic University, Mote Marine Laboratory, University of Central Florida, University of Florida, Florida Atlantic University and the Comité Nacional para la Conservación y Protección de las Totugas Marinas. The 17th was the largest symposium to date. A total of 720 participants registered, including sea turtle biologists, students, regulatory personnel, managers, and volunteers representing 38 countries. In addition to the United States, participants represented Australia, Austria, the Bahamas, Bonaire, Bermuda, Brazil, Canada, Colombia, Costa Rica, Croatia, Cuba, Cyprus, Dominican Republic, Ecuador, England, Guatemala, Greece, Honduras, India, Italy, Japan, Madagascar, Malaysia, Mexico, The Netherlands, Nicaragua, Peru, Philippines, Republic of Seychelles, Scotland, Spain, Sri Lanka, Switzerland, Taiwan, Turkey, Uruguay, and Venezuela. In addition to the 79 oral, 2 video, and 120 poster presentations, 3 workshops were offered: Selina Heppell (Duke University Marine Laboratory) provided “Population Modeling,” Mike Walsh and Sam Dover (Sea World-Orlando) conducted “Marine Turtle Veterinary Medicine” and “Conservation on Nesting Beaches” was offered by Blair Witherington and David Arnold (Florida Department of Environmental Protection). On the first evening, P.C.H. Pritchard delivered a thoughtful retrospect on Archie Carr that showed many sides of a complex man who studied and wrote about sea turtles. It was a presentation that none of us will forget. The members considered a number of resolutions at the Thursday business meeting and passed six. Five of these resolutions are presented in the Commentaries and Reviews section of Chelonian Conservation and Biology 2(3):442-444 (1997). The symposium was fortunate to have many fine presentations competing for the Archie Carr Best Student Presentations awards. The best oral presentation award went to Amanda Southwood (University of British Columbia) for “Heart rates and dive behavior of the leatherback sea turtle during the internesting interval.” The two runners-up were Richard Reina (Australian National University) for “Regulation of salt gland activity in Chelonia mydas” and Singo Minamikawa (Kyoto University) for “The influence that artificial specific gravity change gives to diving behavior of loggerhead turtles”. The winner of this year’s best poster competition was Mark Roberts (University of South Florida) for his poster entitled “Global population structure of green sea Turtles (Chelonia mydas) using microsatellite analysis of male mediated gene flow.” The two runners-up were Larisa Avens (University of North Carolina-Chapel Hill) for “Equilibrium responses to rotational displacements by hatchling sea turtles: maintaining a migratory heading in a turbulent ocean” and Annette Broderick (University of Glasgow) for “Female size, not length, is a correlate of reproductive output.” The symposium was very fortunate to receive a matching monetary and subscription gift from Anders J. G. Rhodin of the Chelonian Research Foundation. These enabled us to more adequately reward the fine work of students. The winners of the best paper and best poster awards received $400 plus a subscription to Chelonian Conservation and Biology. Each runner up received$100. The symposium owes a great debt to countless volunteers who helped make the meeting a success. Those volunteers include: Jamie Serino, Alan Bolton, and Karen Bjorndal, along with the UF students provided audio visual help, John Keinath chaired the student awards committee, Mike Salmon chaired the Program Commiteee, Sheryan Epperly and Joanne Braun compiled the Proceedings, Edwin Drane served as treasurer and provided much logistical help, Jane Provancha coordinated volunteers, Thelma Richardson conducted registration, Vicki Wiese coordinated food and beverage services, Jamie Serino and Erik Marin coordinated entertainment, Kenneth Dodd oversaw student travel awards, Traci Guynup, Tina Brown, Jerris Foote, Dan Hamilton, Richie Moretti, and Vicki Wiese served on the time and place committee, Blair Witherington created the trivia quiz, Tom McFarland donated the symposium logo, Deborah Crouse chaired the resolutions committee, Pamela Plotkin chaired the nominations committee, Sally Krebs, Susan Schenk, and Larry Wood conducted the silent auction, and Beverly and Tom McFarland coordinated all 26 vendors. Many individuals from outside the United States were able to attend the 17th Annual Sea Turtle Symposium thanks to the tireless work of Karen Eckert, Marydele Donnelly, and Jack Frazier in soliciting travel assistance for a number of international participants. We are indebted to those donating money to the internationals’ housing fund (Flo Vetter Memorial Fund, Marinelife Center of Juno Beach, Roger Mellgren, and Jane Provancha). We raise much of our money for international travel from the auction; thanks go to auctioneer Bob Shoop, who kept our auction fastpaced and entertaining, and made sure the bidding was high. The Annual Sea Turtle Symposium is unequaled in its emphasis on international participation. Through international participation we all learn a great deal more about the biology of sea turtles and the conservation issues that sea turtles face in distant waters. Additionally, those attending the symposium come away with a tremendous wealth of knowledge, professional contacts, and new friendships. The Annual Sea Turtle Symposium is a meeting in which pretenses are dropped, good science is presented, and friendly, open communication is the rule. The camaraderie that typifies these meetings ultimately translates into understanding and cooperation. These aspects, combined, have gone and will go a long way toward helping to protect marine turtles and toward aiding their recovery on a global scale. (PDF contains 342 pages