853 research outputs found
Consensus reaching in swarms ruled by a hybrid metric-topological distance
Recent empirical observations of three-dimensional bird flocks and human
crowds have challenged the long-prevailing assumption that a metric interaction
distance rules swarming behaviors. In some cases, individual agents are found
to be engaged in local information exchanges with a fixed number of neighbors,
i.e. a topological interaction. However, complex system dynamics based on pure
metric or pure topological distances both face physical inconsistencies in low
and high density situations. Here, we propose a hybrid metric-topological
interaction distance overcoming these issues and enabling a real-life
implementation in artificial robotic swarms. We use network- and
graph-theoretic approaches combined with a dynamical model of locally
interacting self-propelled particles to study the consensus reaching pro- cess
for a swarm ruled by this hybrid interaction distance. Specifically, we
establish exactly the probability of reaching consensus in the absence of
noise. In addition, simulations of swarms of self-propelled particles are
carried out to assess the influence of the hybrid distance and noise
A Decentralized Mobile Computing Network for Multi-Robot Systems Operations
Collective animal behaviors are paradigmatic examples of fully decentralized
operations involving complex collective computations such as collective turns
in flocks of birds or collective harvesting by ants. These systems offer a
unique source of inspiration for the development of fault-tolerant and
self-healing multi-robot systems capable of operating in dynamic environments.
Specifically, swarm robotics emerged and is significantly growing on these
premises. However, to date, most swarm robotics systems reported in the
literature involve basic computational tasks---averages and other algebraic
operations. In this paper, we introduce a novel Collective computing framework
based on the swarming paradigm, which exhibits the key innate features of
swarms: robustness, scalability and flexibility. Unlike Edge computing, the
proposed Collective computing framework is truly decentralized and does not
require user intervention or additional servers to sustain its operations. This
Collective computing framework is applied to the complex task of collective
mapping, in which multiple robots aim at cooperatively map a large area. Our
results confirm the effectiveness of the cooperative strategy, its robustness
to the loss of multiple units, as well as its scalability. Furthermore, the
topology of the interconnecting network is found to greatly influence the
performance of the collective action.Comment: Accepted for Publication in Proc. 9th IEEE Annual Ubiquitous
Computing, Electronics & Mobile Communication Conferenc
Color Image Segmentation Using the Bee Algorithm in the Markovian Framework
This thesis presents color image segmentation as a vital step of image analysis in computer vision. A survey of the Markov Random Field (MRF) with four different implementation methods for its parameter estimation is provided. In addition, a survey of swarm intelligence and a number of swarm based algorithms are presented. The MRF model is used for color image segmentation in the framework. This thesis introduces a new image segmentation implementation that uses the bee algorithm as an optimization tool in the Markovian framework. The experiments show that the new proposed method performs faster than the existing implementation methods with about the same segmentation accuracy
How mobility increases mobile cloud computing processing capacity
In this paper, we address a important and still unanswered question in mobile cloud computing ``how mobility impacts the distributed processing power of network and computing clouds formed from mobile ad-hoc networks ?''. Indeed, mobile ad-hoc networks potentially offer an aggregate cloud of resources delivering collectively processing, storage and networking resources. We demonstrate that the mobility can increase significantly the performances of distributed computation in such networks. In particular, we show that this improvement can be achieved more efficiently with mobility patterns that entail a dynamic small-world network structure on the mobile cloud. Moreover, we show that the small-world structure can improve significantly the resilience of mobile cloud computing services
Localization transition induced by learning in random searches
We solve an adaptive search model where a random walker or L\'evy flight
stochastically resets to previously visited sites on a -dimensional lattice
containing one trapping site. Due to reinforcement, a phase transition occurs
when the resetting rate crosses a threshold above which non-diffusive
stationary states emerge, localized around the inhomogeneity. The threshold
depends on the trapping strength and on the walker's return probability in the
memoryless case. The transition belongs to the same class as the
self-consistent theory of Anderson localization. These results show that
similarly to many living organisms and unlike the well-studied Markovian walks,
non-Markov movement processes can allow agents to learn about their environment
and promise to bring adaptive solutions in search tasks.Comment: 5 pages, 5 figures + 4 pages of Supplemental Information. Accepted in
Physical Review Letter
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