Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization

We present an adaptive strategy for a group of robots engaged in the localization of multiple targets. The robotic search algorithm is inspired by chemotaxis behavior in bacteria, and the algorithmic parameters are updated using a distributed implementation of the Particle Swarm Optimization technique. We explore the efficacy of the adaptation, the impact of using local fitness measurements to improve global fitness, and the effect of different particle neighborhood sizes on performance. The robustness of the approach in non-static environments is tested in a time-varying scenario

Cost Adaptation for Robust Decentralized Swarm Behaviour

Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agents. This formulation allows a wide range of tasks to be encoded and can account for network delays, heterogeneous capabilities, and increasingly large swarms through the adaptation mechanism. We leverage the Unity3D game engine to build a simulator capable of introducing artificial networking failures and delays in the swarm. Using the simulator we validate our method on an example coordinated exploration task. We demonstrate that cost adaptation allows for more efficient and safer task completion under varying environment conditions and increasingly large swarm sizes. We release our simulator and code to the community for future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201

Evolutionary Robot Vision for People Tracking Based on Local Clustering

This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and a human tracking method based on the evolutionary robot vision. Finally, we show experimental results of the human tracking to discuss the effectiveness of our proposed method

A general framework of multi-population methods with clustering in undetectable dynamic environments

Copyright @ 2011 IEEETo solve dynamic optimization problems, multiple population methods are used to enhance the population diversity for an algorithm with the aim of maintaining multiple populations in different sub-areas in the fitness landscape. Many experimental studies have shown that locating and tracking multiple relatively good optima rather than a single global optimum is an effective idea in dynamic environments. However, several challenges need to be addressed when multi-population methods are applied, e.g., how to create multiple populations, how to maintain them in different sub-areas, and how to deal with the situation where changes can not be detected or predicted. To address these issues, this paper investigates a hierarchical clustering method to locate and track multiple optima for dynamic optimization problems. To deal with undetectable dynamic environments, this paper applies the random immigrants method without change detection based on a mechanism that can automatically reduce redundant individuals in the search space throughout the run. These methods are implemented into several research areas, including particle swarm optimization, genetic algorithm, and differential evolution. An experimental study is conducted based on the moving peaks benchmark to test the performance with several other algorithms from the literature. The experimental results show the efficiency of the clustering method for locating and tracking multiple optima in comparison with other algorithms based on multi-population methods on the moving peaks benchmark

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

Comparative Analysis Multi-Robot Formation Control Modeling Using Fuzzy Logic Type 2 – Particle Swarm Optimization

Multi-robot is a robotic system consisting of several robots that are interconnected and can communicate and collaborate with each other to complete a goal. With physical similarities, they have two controlled wheels and one free wheel that moves at the same speed. In this Problem, there is a main problem remaining in controlling the movement of the multi robot formation in searching the target. It occurs because the robots have to create dynamic geometric shapes towards the target. In its movement, it requires a control system in order to move the position as desired. For multi-robot movement formations, they have their own predetermined trajectories which are relatively constant in varying speeds and accelerations even in sudden stops. Based on these weaknesses, the robots must be able to avoid obstacles and reach the target. This research used Fuzzy Logic type 2 – Particle Swarm Optimization algorithm which was compared with Fuzzy Logic type 2 – Modified Particle Swarm Optimization and Fuzzy Logic type 2 – Dynamic Particle Swarm Optimization. Based on the experiments that had been carried out in each environment, it was found that Fuzzy Logic type 2 - Modified Particle Swarm Optimization had better iteration, time and resource and also smoother robot movement than Fuzzy Logic type 2 – Particle Swarm Optimization and Fuzzy Logic Type 2 - Dynamic Particle Swarm Optimization