19,484 research outputs found
A new model for solution of complex distributed constrained problems
In this paper we describe an original computational model for solving
different types of Distributed Constraint Satisfaction Problems (DCSP). The
proposed model is called Controller-Agents for Constraints Solving (CACS). This
model is intended to be used which is an emerged field from the integration
between two paradigms of different nature: Multi-Agent Systems (MAS) and the
Constraint Satisfaction Problem paradigm (CSP) where all constraints are
treated in central manner as a black-box. This model allows grouping
constraints to form a subset that will be treated together as a local problem
inside the controller. Using this model allows also handling non-binary
constraints easily and directly so that no translating of constraints into
binary ones is needed. This paper presents the implementation outlines of a
prototype of DCSP solver, its usage methodology and overview of the CACS
application for timetabling problems
Empowering Collections with Swarm Behavior
Often, when modelling a system there are properties and operations that are
related to a group of objects rather than to a single object. In this paper we
extend Java with Swarm Behavior, a new composition operator that associates
behavior with a collection of instances. The lookup resolution of swarm
behavior is based on the element type of a collection and is thus orthogonal to
the collection hierarchy
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
Review of Metaheuristics and Generalized Evolutionary Walk Algorithm
Metaheuristic algorithms are often nature-inspired, and they are becoming
very powerful in solving global optimization problems. More than a dozen of
major metaheuristic algorithms have been developed over the last three decades,
and there exist even more variants and hybrid of metaheuristics. This paper
intends to provide an overview of nature-inspired metaheuristic algorithms,
from a brief history to their applications. We try to analyze the main
components of these algorithms and how and why they works. Then, we intend to
provide a unified view of metaheuristics by proposing a generalized
evolutionary walk algorithm (GEWA). Finally, we discuss some of the important
open questions.Comment: 14 page
Quantitative Assessment of Robotic Swarm Coverage
This paper studies a generally applicable, sensitive, and intuitive error
metric for the assessment of robotic swarm density controller performance.
Inspired by vortex blob numerical methods, it overcomes the shortcomings of a
common strategy based on discretization, and unifies other continuous notions
of coverage. We present two benchmarks against which to compare the error
metric value of a given swarm configuration: non-trivial bounds on the error
metric, and the probability density function of the error metric when robot
positions are sampled at random from the target swarm distribution. We give
rigorous results that this probability density function of the error metric
obeys a central limit theorem, allowing for more efficient numerical
approximation. For both of these benchmarks, we present supporting theory,
computation methodology, examples, and MATLAB implementation code.Comment: Proceedings of the 15th International Conference on Informatics in
Control, Automation and Robotics (ICINCO), Porto, Portugal, 29--31 July 2018.
11 pages, 4 figure
A Coevolutionary Particle Swarm Algorithm for Bi-Level Variational Inequalities: Applications to Competition in Highway Transportation Networks
A climate of increasing deregulation in traditional highway transportation,
where the private sector has an expanded role in the provision of traditional
transportation services, provides a background for practical policy issues to be investigated.
One of the key issues of interest, and the focus of this chapter, would
be the equilibrium decision variables offered by participants in this market. By assuming
that the private sector participants play a Nash game, the above problem can
be described as a Bi-Level Variational Inequality (BLVI). Our problem differs from
the classical Cournot-Nash game because each and every player’s actions is constrained
by another variational inequality describing the equilibrium route choice of
users on the network. In this chapter, we discuss this BLVI and suggest a heuristic
coevolutionary particle swarm algorithm for its resolution. Our proposed algorithm
is subsequently tested on example problems drawn from the literature. The numerical
experiments suggest that the proposed algorithm is a viable solution method for
this problem
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