Abstractions, Analysis Techniques, and Synthesis of Scalable Control Strategies for Robot Swarms

Tasks that require parallelism, redundancy, and adaptation to dynamic, possibly hazardous environments can potentially be performed very efficiently and robustly by a swarm robotic system. Such a system would consist of hundreds or thousands of anonymous, resource-constrained robots that operate autonomously, with little to no direct human supervision. The massive parallelism of a swarm would allow it to perform effectively in the event of robot failures, and the simplicity of individual robots facilitates a low unit cost. Key challenges in the development of swarm robotic systems include the accurate prediction of swarm behavior and the design of robot controllers that can be proven to produce a desired macroscopic outcome. The controllers should be scalable, meaning that they ensure system operation regardless of the swarm size. This thesis presents a comprehensive approach to modeling a swarm robotic system, analyzing its performance, and synthesizing scalable control policies that cause the populations of different swarm elements to evolve in a specified way that obeys time and efficiency constraints. The control policies are decentralized, computed a priori, implementable on robots with limited sensing and communication capabilities, and have theoretical guarantees on performance. To facilitate this framework of abstraction and top-down controller synthesis, the swarm is designed to emulate a system of chemically reacting molecules. The majority of this work considers well-mixed systems when there are interaction-dependent task transitions, with some modeling and analysis extensions to spatially inhomogeneous systems. The methodology is applied to the design of a swarm task allocation approach that does not rely on inter-robot communication, a reconfigurable manufacturing system, and a cooperative transport strategy for groups of robots. The third application incorporates observations from a novel experimental study of the mechanics of cooperative retrieval in Aphaenogaster cockerelli ants. The correctness of the abstractions and the correspondence of the evolution of the controlled system to the target behavior are validated with computer simulations. The investigated applications form the building blocks for a versatile swarm system with integrated capabilities that have performance guarantees

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

Swarm robotics: Cooperative navigation in unknown environments

Swarm Robotics is garnering attention in the robotics field due to its substantial benefits. It has been proven to outperform most other robotic approaches in many applications such as military, space exploration and disaster search and rescue missions. It is inspired by the behavior of swarms of social insects such as ants and bees. It consists of a number of robots with limited capabilities and restricted local sensing. When deployed, individual robots behave according to local sensing until the emergence of a global behavior where they, as a swarm, can accomplish missions individuals cannot. In this research, we propose a novel exploration and navigation method based on a combination of Probabilistic Finite Sate Machine (PFSM), Robotic Darwinian Particle Swarm Optimization (RDPSO) and Depth First Search (DFS). We use V-REP Simulator to test our approach. We are also implementing our own cost effective swarm robot platform, AntBOT, as a proof of concept for future experimentation. We prove that our proposed method will yield excellent navigation solution in optimal time when compared to methods using either PFSM only or RDPSO only. In fact, our method is proved to produce 40% more success rate along with an exploration speed of 1.4x other methods. After exploration, robots can navigate the environment forming a Mobile Ad-hoc Network (MANET) and using the graph of robots as network nodes

Particle Swarm Optimization: Basic Concepts, Variants and Applications in Power Systems

Many areas in power systems require solving one or more nonlinear optimization problems. While analytical methods might suffer from slow convergence and the curse of dimensionality, heuristics-based swarm intelligence can be an efficient alternative. Particle swarm optimization (PSO), part of the swarm intelligence family, is known to effectively solve large-scale nonlinear optimization problems. This paper presents a detailed overview of the basic concepts of PSO and its variants. Also, it provides a comprehensive survey on the power system applications that have benefited from the powerful nature of PSO as an optimization technique. For each application, technical details that are required for applying PSO, such as its type, particle formulation (solution representation), and the most efficient fitness functions are also discussed

Particle Swarm Optimization

Particle swarm optimization (PSO) is a population based stochastic optimization technique influenced by the social behavior of bird flocking or fish schooling.PSO shares many similarities with evolutionary computation techniques such as Genetic Algorithms (GA). The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field

Equity portfolio management with cardinality constraints and risk parity control using multi-objective particle swarm optimization

The financial crisis and the market uncertainty of the last years have pointed out the shortcomings of traditional portfolio theory to adequately manage the different sources of risk of the investment process. This paper addresses the issue by developing an alternative portfolio design, that integrates risk parity into the cardinality constrained portfolio optimization model. The resulting mixed integer programming problem is handled by an improved multi-objective particle swarm optimization algorithm. Three hybrid approaches, based on a repair mechanism and different versions of the constrained-domination principle, are proposed to handle constraints. The efficiency of the algorithm and the effectiveness of the solution approaches are assessed through a set of numerical examples. Moreover, the benefits of adopting the proposed strategy instead of the cardinality constrained mean-variance approach are validated in an out-of-sample experiment

Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks

abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a range of conditions. To validate swarm robotic control strategies, experimental testbeds with large numbers of robots are required; however, existing low-cost robots are specialized and can lack the necessary sensing, navigation, control, and manipulation capabilities. To address these challenges, this thesis presents a formal approach to designing biologically-inspired swarm control strategies for spatially-confined coverage and payload transport tasks, as well as a novel low-cost, customizable robotic platform for testing swarm control approaches. Stochastic control strategies are developed that provably allocate a swarm of robots around the boundaries of multiple regions of interest or payloads to be transported. These strategies account for spatially-dependent effects on the robots' physical distribution and are largely robust to environmental variations. In addition, a control approach based on reinforcement learning is presented for collective payload towing that accommodates robots with heterogeneous maximum speeds. For both types of collective transport tasks, rigorous approaches are developed to identify and translate observed group retrieval behaviors in Novomessor cockerelli ants to swarm robotic control strategies. These strategies can replicate features of ant transport and inherit its properties of robustness to different environments and to varying team compositions. The approaches incorporate dynamical models of the swarm that are amenable to analysis and control techniques, and therefore provide theoretical guarantees on the system's performance. Implementation of these strategies on robotic swarms offers a way for biologists to test hypotheses about the individual-level mechanisms that drive collective behaviors. Finally, this thesis describes Pheeno, a new swarm robotic platform with a three degree-of-freedom manipulator arm, and describes its use in validating a variety of swarm control strategies.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

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

Storage Capacity Estimation of Commercial Scale Injection and Storage of CO2 in the Jacksonburg-Stringtown Oil Field, West Virginia

Geological capture, utilization and storage (CCUS) of carbon dioxide (CO2) in depleted oil and gas reservoirs is one method to reduce greenhouse gas emissions with enhanced oil recovery (EOR) and extending the life of the field. Therefore CCUS coupled with EOR is considered to be an economic approach to demonstration of commercial-scale injection and storage of anthropogenic CO2. Several critical issues should be taken into account prior to injecting large volumes of CO2, such as storage capacity, project duration and long-term containment. Reservoir characterization and 3D geological modeling are the best way to estimate the theoretical CO 2 storage capacity in mature oil fields. The Jacksonburg-Stringtown field, located in northwestern West Virginia, has produced over 22 million barrels of oil (MMBO) since 1895. The sandstone of the Late Devonian Gordon Stray is the primary reservoir.;The Upper Devonian fluvial sandstone reservoirs in Jacksonburg-Stringtown oil field, which has produced over 22 million barrels of oil since 1895, are an ideal candidate for CO2 sequestration coupled with EOR. Supercritical depth (\u3e2500 ft.), minimum miscible pressure (941 psi), favorable API gravity (46.5°) and good water flood response are indicators that facilitate CO 2-EOR operations. Moreover, Jacksonburg-Stringtown oil field is adjacent to a large concentration of CO2 sources located along the Ohio River that could potentially supply enough CO2 for sequestration and EOR without constructing new pipeline facilities.;Permeability evaluation is a critical parameter to understand the subsurface fluid flow and reservoir management for primary and enhanced hydrocarbon recovery and efficient carbon storage. In this study, a rapid, robust and cost-effective artificial neural network (ANN) model is constructed to predict permeability using the model\u27s strong ability to recognize the possible interrelationships between input and output variables. Two commonly available conventional well logs, gamma ray and bulk density, and three logs derived variables, the slope of GR, the slope of bulk density and Vsh were selected as input parameters and permeability was selected as desired output parameter to train and test an artificial neural network. The results indicate that the ANN model can be applied effectively in permeability prediction.;Porosity is another fundamental property that characterizes the storage capability of fluid and gas bearing formations in a reservoir. In this study, a support vector machine (SVM) with mixed kernels function (MKF) is utilized to construct the relationship between limited conventional well log suites and sparse core data. The input parameters for SVM model consist of core porosity values and the same log suite as ANN\u27s input parameters, and porosity is the desired output. Compared with results from the SVM model with a single kernel function, mixed kernel function based SVM model provide more accurate porosity prediction values.;Base on the well log analysis, four reservoir subunits within a marine-dominated estuarine depositional system are defined: barrier sand, central bay shale, tidal channels and fluvial channel subunits. A 3-D geological model, which is used to estimate theoretical CO2 sequestration capacity, is constructed with the integration of core data, wireline log data and geological background knowledge. Depending on the proposed 3-D geological model, the best regions for coupled CCUS-EOR are located in southern portions of the field, and the estimated CO2 theoretical storage capacity for Jacksonburg-Stringtown oil field vary between 24 to 383 million metric tons. The estimation results of CO2 sequestration and EOR potential indicate that the Jacksonburg-Stringtown oilfield has significant potential for CO2 storage and value-added EOR