Swarm Robotics

Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties

Task allocation in group of nodes in the IoT: A consensus approach

The realization of the Internet of Things (IoT) paradigm relies on the implementation of systems of cooperative intelligent objects with key interoperability capabilities. In order for objects to dynamically cooperate to IoT applications' execution, they need to make their resources available in a flexible way. However, available resources such as electrical energy, memory, processing, and object capability to perform a given task, are often limited. Therefore, resource allocation that ensures the fulfilment of network requirements is a critical challenge. In this paper, we propose a distributed optimization protocol based on consensus algorithm, to solve the problem of resource allocation and management in IoT heterogeneous networks. The proposed protocol is robust against links or nodes failures, so it's adaptive in dynamic scenarios where the network topology changes in runtime. We consider an IoT scenario where nodes involved in the same IoT task need to adjust their task frequency and buffer occupancy. We demonstrate that, using the proposed protocol, the network converges to a solution where resources are homogeneously allocated among nodes. Performance evaluation of experiments in simulation mode and in real scenarios show that the algorithm converges with a percentage error of about±5% with respect to the optimal allocation obtainable with a centralized approach

Investigation of Communication Constraints in Distributed Multi-Agent Systems

Based on a simple flocking model with collision avoidance, a set of investigations of multi-agent system communication constraints have been conducted, including distributed estimation of global features, the influence of jamming, and communication performance optimization. In flocking control, it is necessary to achieve a common velocity among agents and maintain a safe distance between neighboring agents. The local information among agents is exchanged in a distributed fashion to help achieve velocity consensus. A distributed estimation algorithm was recently proposed to estimate the group’s global features based on achieving consensus among agents’ local estimations of such global features. To reduce the communication load, the exchange of local estimations among agents occurs at discrete time instants defined by an event-triggering mechanism. To confirm the effectiveness of the new distributed estimation algorithm, we simulated the algorithm while adopting a simple flocking control technique with collision avoidance. In addition, the effect of jamming on flocking control and the distributed algorithm is studied through computer simulations. Finally, to better exploit the communication channel among agents, we study a recently proposed formation control multi-agent algorithm, which optimizes the inter-agent distance in order to achieve optimum inter-agent communication performance. The study is also conducted through computer simulations, which confirms the effectiveness of the algorithm

Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms

This book is a reprint of the Special Issue “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”,which was published in Applied Sciences

A framework for smart production-logistics systems based on CPS and industrial IoT

Industrial Internet of Things (IIoT) has received increasing attention from both academia and industry. However, several challenges including excessively long waiting time and a serious waste of energy still exist in the IIoT-based integration between production and logistics in job shops. To address these challenges, a framework depicting the mechanism and methodology of smart production-logistics systems is proposed to implement intelligent modeling of key manufacturing resources and investigate self-organizing configuration mechanisms. A data-driven model based on analytical target cascading is developed to implement the self-organizing configuration. A case study based on a Chinese engine manufacturer is presented to validate the feasibility and evaluate the performance of the proposed framework and the developed method. The results show that the manufacturing time and the energy consumption are reduced and the computing time is reasonable. This paper potentially enables manufacturers to deploy IIoT-based applications and improve the efficiency of production-logistics systems

A Review of Consensus-based Multi-agent UAV Applications

In this paper, a review of distributed control for multi-agent systems is proposed, focusing on consensus-based applications. Both rotary-wing and fixed-wing Unmanned Aerial Vehicles (UAVs) are considered. On one side, methodologies and implementations based on collision and obstacle avoidance through consensus are analyzed for multirotor UAVs. On the other hand, a target tracking through consensus is considered for fixed-wing UAVs. This novel approach to classify the literature could help researchers to assess the outcomes achieved in these two directions in view of potential practical implementations of consensus-based methodologies

A novel switching delayed PSO algorithm for estimating unknown parameters of lateral flow immunoassay

In this paper, the parameter identification problem of the lateral flow immunoassay (LFIA) devices is investigated via a new switching delayed particle swarm optimization (SDPSO) algorithm. By evaluating an evolutionary factor in each generation, the velocity of the particle can adaptively adjust the model according to a Markov chain in the proposed SDPSO method. During the iteration process, the SDPSO can adaptively select the inertia weight, acceleration coefficients, locally best particle pbest and globally best particle gbest in the swarm. It is worth highlighting that the pbest and the gbest can be randomly selected from the corresponding values in the previous iteration. That is, the delayed information of the pbest and the gbest can be exploited to update the particle’s velocity in current iteration according to the evolutionary states. The strategy can not only improve the global search but also enhance the possibility of eventually reaching the gbest. The superiority of the proposed SDPSO is evaluated on a series of unimodal and multimodal benchmark functions. Results demonstrate that the novel SDPSO algorithm outperforms some well-known PSO algorithms in aspects of global search and efficiency of convergence. Finally, the novel SDPSO is successfully exploited to estimate the unknown time-delay parameters of a class of nonlinear state-space LFIA model.This work was supported in part by the Royal Society of the U.K., the Alexander von Humboldt Foundation of Germany, the Natural Science Foundation of China under Grant 61403319, the Fujian Natural Science Foundation under Grant 2015J05131, and the Fujian Provincial Key Laboratory of Eco-Industrial Green Technology