Clustering on Spatial Data Sets Using Extended Linked Clustering Algorithms

Various clustering algorithms (CA) have been reported in literature, to group data into clusters in diverse domains. Literature further reported that, these CAs work satisfactorily either on pure numerical data or on pure categorical data and perform poorly on mixed numerical and categorical data. Clustering is the process of creating distribution patterns and obtaining intrinsic correlations in large datasets by arranging the data into similarity classes. The present work pertains to reviewing the available research papers on clustering spatial data. In a web perspective, a detailed inspection of grouped patterns and their belonging to well known characters will be very useful for evolution of clusters. The review work is split into spatial data mining, clustering on spatial data sets and extended linked clustering. This review work will enable the researchers to make an in depth study of the till date research work on above areas and will pave way for developing extended linked clustering algorithms with a view to find number of clusters on mixed datasets to produce results for several datasets. This work is likely to assist in deciding which clustering solution to use to obtain a coherent data solution for a particular character experiment. Further it could be used as an optimal tool to guide the clustering process towards better and character interpretable meaningful solutions. The major contribution of present work is to present an in depth literature review of research in the areas of Spatial data mining, clustering on spatial data sets and extended linked clustering with a view to assist researchers to develop optimum extended linked clustering and to develop optimum extended linked clustering algorithms for clustering process ,towards better and character interpretable meaningful solutions

Adaptive Navigation Control for Swarms of Autonomous Mobile Robots

This paper was devoted to developing a new and general coordinated adaptive navigation scheme for large-scale mobile robot swarms adapting to geographically constrained environments. Our distributed solution approach was built on the following assumptions: anonymity, disagreement on common coordinate systems, no pre-selected leader, and no direct communication. The proposed adaptive navigation was largely composed of four functions, commonly relying on dynamic neighbor selection and local interaction. When each robot found itself what situation it was in, individual appropriate ranges for neighbor selection were defined within its limited sensing boundary and the robots properly selected their neighbors in the limited range. Through local interactions with the neighbors, each robot could maintain a uniform distance to its neighbors, and adapt their direction of heading and geometric shape. More specifically, under the proposed adaptive navigation, a group of robots could be trapped in a dead-end passage,but they merge with an adjacent group to emergently escape from the dead-end passage. Furthermore, we verified the effectiveness of the proposed strategy using our in-housesimulator. The simulation results clearly demonstrated that the proposed algorithm is a simple yet robust approach to autonomous navigation of robot swarms in highlyclutteredenvironments. Since our algorithm is local and completely scalable to any size, it is easily implementable on a wide variety of resource-constrained mobile robots andplatforms. Our adaptive navigation control for mobile robot swarms is expected to be used in many applications ranging from examination and assessment of hazardous environments to domestic applications

Visual mining of moving flock patterns in large spatio-temporal data sets using a frequent pattern approach

The popularity of tracking devices continues to contribute to increasing volumes of spatio-temporal data about moving objects. Current approaches in analysing these data are unable to capture collective behaviour and correlations among moving objects. An example of these types of patterns is moving flocks. This article develops an improved algorithm for mining such patterns following a frequent pattern discovery approach, a well-known task in traditional data mining. It uses transaction-based data representation of trajectories to generate a database that facilitates the application of scalable and efficient frequent pattern mining algorithms. Results were compared with an existing method (Basic Flock Evaluation or BFE) and are demonstrated for both synthetic and real data sets with a large number of trajectories. The results illustrate a significant performance increase. Furthermore, the improved algorithm has been embedded into a visual environment that allows manipulation of input parameters and interactive recomputation of the resulting flocks. To illustrate the visual environment a data set containing 30 years of tropical cyclone tracks with 6 hourly observations is used. The example illustrates how the visual environment facilitates exploration and verification of flocks by changing the input parameters and instantly showing the spatio-temporal distribution of the resulting flocks in the Space-Time Cube and interactively selecting

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). 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. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Formation and organisation in robot swarms.

A swarm is defined as a large and independent collection of heterogeneous or homogeneous agents operating in a common environment and seemingly acting in a coherent and coordinated manner. Swarm architectures promote decentralisation and self-organisation which often leads to emergent behaviour. The emergent behaviour of the swarm results from the interactions of the swarm with its environment (or fellow agents), but not as a direct result of design. The creation of artificially simulated swarms or practical robot swarms has become an interesting topic of research in the last decade. Even though many studies have been undertaken using a practical approach to swarm construction, there are still many problems need to be addressed. Such problems include the problem of how to control very simple agents to form patterns; the problem of how an attractor will affect flocking behaviour; and the problem of bridging formation of multiple agents in connecting multiple locations. The central goal of this thesis is to develop early novel theories and algorithms to support swarm robots in. pattern formation tasks. To achieve this, appropriate tools for understanding how to model, design and control individual units have to be developed. This thesis consists of three independent pieces of research work that address the problem of pattern formation of robot swarms in both a centralised and a decentralised way.The first research contribution proposes algorithms of line formation and cluster formation in a decentralised way for relatively simple homogenous agents with very little memory, limited sensing capabilities and processing power. This research utilises the Finite State Machine approach.In the second research contribution, by extending Wilensky's (1999) work on flocking, three different movement models are modelled by changing the maximum viewing angle each agent possesses during the course of changing its direction. An object which releases an artificial potential field is then introduced in the centre of the arena and the behaviours of the collective movement model are studied.The third research contribution studies the complex formation of agents in a task that requires a formation of agents between two locations. This novel research proposes the use Of L-Systems that are evolved using genetic algorithms so that more complex pattern formations can be represented and achieved. Agents will need to have the ability to interpret short strings of rules that form the basic DNA of the formation