Towards a swarm robotic approach for cooperative object recognition

Social insects have inspired the behaviours of swarm robotic systems for the last 20 years. Interactions of the simple individuals in these swarms form solutions to relatively complex problems. A novel swarm robotic method is investigated for future robotic cooperative object recognition tasks. Previous multi-agent systems involve cameras and image analyses to identify objects. They cooperate only to improve their hypotheses of the shape's identity. The system proposed uses agents whose interactions with each other around the physical boundaries of the object's shape allow the distinguishing features found. The agents are a physical embodiment of the vision system, making them suitable for environments where it would not be possible to use a camera. A Simplified Hexagonal Model was developed to simulate and examine the strategies. The hexagonal cells of which can be empty, contain an agent (hBot) or part of an object shape. Initially the hBots are required to identify the valid object shapes from a set of two types of known shapes. To do this the hBots change state when in contact with an object and when touching other hBots of the same state level, where some states are only achieved when neighbouring certain object shapes. The agents are oblivious, anonymous and homogeneous. They also do not know their position or orientation and cannot distinguish between object shapes alone due to their limited sensor range. Further work increased the number of object shapes to provide a range of scenarios

Projection-Based Clustering through Self-Organization and Swarm Intelligence

It covers aspects of unsupervised machine learning used for knowledge discovery in data science and introduces a data-driven approach to cluster analysis, the Databionic swarm (DBS). DBS consists of the 3D landscape visualization and clustering of data. The 3D landscape enables 3D printing of high-dimensional data structures. The clustering and number of clusters or an absence of cluster structure are verified by the 3D landscape at a glance. DBS is the first swarm-based technique that shows emergent properties while exploiting concepts of swarm intelligence, self-organization and the Nash equilibrium concept from game theory. It results in the elimination of a global objective function and the setting of parameters. By downloading the R package DBS can be applied to data drawn from diverse research fields and used even by non-professionals in the field of data mining

Projection-Based Clustering through Self-Organization and Swarm Intelligence: Combining Cluster Analysis with the Visualization of High-Dimensional Data

Cluster Analysis; Dimensionality Reduction; Swarm Intelligence; Visualization; Unsupervised Machine Learning; Data Science; Knowledge Discovery; 3D Printing; Self-Organization; Emergence; Game Theory; Advanced Analytics; High-Dimensional Data; Multivariate Data; Analysis of Structured Dat

On Binary Max-Sum and Tractable HOPs

The Max-Sum message-passing algorithm has been used to approximately solve several unconstrained optimization problems, specially in the distributed context. In general, the complexity of computing messages is exponential. However, if the problem is modeled using the so called Tractable HOPs (THOPs), binary MaxSum's messages can be computed in polynomial time. In this paper we review existing THOPs, and present new ones, aiming at providing an updated view of efficient message computation.Peer Reviewe

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

Distributed Control of a Swarm of Autonomous Unmanned Aerial Vehicles

With the increasing use of Unmanned Aerial Vehicles (UAV)s military operations, there is a growing need to develop new methods of control and navigation for these vehicles. This investigation proposes the use of an adaptive swarming algorithm that utilizes local state information to influence the overall behavior of each individual agent in the swarm based upon the agent\u27s current position in the battlespace. In order to investigate the ability of this algorithm to control UAVs in a cooperative manner, a swarm architecture is developed that allows for on-line modification of basic rules. Adaptation is achieved by using a set of behavior coefficients that define the weight at which each of four basic rules is asserted in an individual based upon local state information. An Evolutionary Strategy (ES) is employed to create initial metrics of behavior coefficients. Using this technique, three distinct emergent swarm behaviors are evolved, and each behavior is investigated in terms of the ability of the adaptive swarming algorithm to achieve the desired emergent behavior by modifying the simple rules of each agent. Finally, each of the three behaviors is analyzed visually using a graphical representation of the simulation, and numerically, using a set of metrics developed for this investigation

Optimisation of Mobile Communication Networks - OMCO NET

The mini conference “Optimisation of Mobile Communication Networks” focuses on advanced methods for search and optimisation applied to wireless communication networks. It is sponsored by Research & Enterprise Fund Southampton Solent University. The conference strives to widen knowledge on advanced search methods capable of optimisation of wireless communications networks. The aim is to provide a forum for exchange of recent knowledge, new ideas and trends in this progressive and challenging area. The conference will popularise new successful approaches on resolving hard tasks such as minimisation of transmit power, cooperative and optimal routing

A Comprehensive Survey on Particle Swarm Optimization Algorithm and Its Applications

Particle swarm optimization (PSO) is a heuristic global optimization method, proposed originally by Kennedy and Eberhart in 1995. It is now one of the most commonly used optimization techniques. This survey presented a comprehensive investigation of PSO. On one hand, we provided advances with PSO, including its modifications (including quantum-behaved PSO, bare-bones PSO, chaotic PSO, and fuzzy PSO), population topology (as fully connected, von Neumann, ring, star, random, etc.), hybridization (with genetic algorithm, simulated annealing, Tabu search, artificial immune system, ant colony algorithm, artificial bee colony, differential evolution, harmonic search, and biogeography-based optimization), extensions (to multiobjective, constrained, discrete, and binary optimization), theoretical analysis (parameter selection and tuning, and convergence analysis), and parallel implementation (in multicore, multiprocessor, GPU, and cloud computing forms). On the other hand, we offered a survey on applications of PSO to the following eight fields: electrical and electronic engineering, automation control systems, communication theory, operations research, mechanical engineering, fuel and energy, medicine, chemistry, and biology. It is hoped that this survey would be beneficial for the researchers studying PSO algorithms

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

Common metrics for cellular automata models of complex systems

The creation and use of models is critical not only to the scientific process, but also to life in general. Selected features of a system are abstracted into a model that can then be used to gain knowledge of the workings of the observed system and even anticipate its future behaviour. A key feature of the modelling process is the identification of commonality. This allows previous experience of one model to be used in a new or unfamiliar situation. This recognition of commonality between models allows standards to be formed, especially in areas such as measurement. How everyday physical objects are measured is built on an ingrained acceptance of their underlying commonality. Complex systems, often with their layers of interwoven interactions, are harder to model and, therefore, to measure and predict. Indeed, the inability to compute and model a complex system, except at a localised and temporal level, can be seen as one of its defining attributes. The establishing of commonality between complex systems provides the opportunity to find common metrics. This work looks at two dimensional cellular automata, which are widely used as a simple modelling tool for a variety of systems. This has led to a very diverse range of systems using a common modelling environment based on a lattice of cells. This provides a possible common link between systems using cellular automata that could be exploited to find a common metric that provided information on a diverse range of systems. An enhancement of a categorisation of cellular automata model types used for biological studies is proposed and expanded to include other disciplines. The thesis outlines a new metric, the C-Value, created by the author. This metric, based on the connectedness of the active elements on the cellular automata grid, is then tested with three models built to represent three of the four categories of cellular automata model types. The results show that the new C-Value provides a good indicator of the gathering of active cells on a grid into a single, compact cluster and of indicating, when correlated with the mean density of active cells on the lattice, that their distribution is random. This provides a range to define the disordered and ordered state of a grid. The use of the C-Value in a localised context shows potential for identifying patterns of clusters on the grid