Creativity and Autonomy in Swarm Intelligence Systems

This work introduces two swarm intelligence algorithms -- one mimicking the behaviour of one species of ants (\emph{Leptothorax acervorum}) foraging (a `Stochastic Diffusion Search', SDS) and the other algorithm mimicking the behaviour of birds flocking (a `Particle Swarm Optimiser', PSO) -- and outlines a novel integration strategy exploiting the local search properties of the PSO with global SDS behaviour. The resulting hybrid algorithm is used to sketch novel drawings of an input image, exploliting an artistic tension between the local behaviour of the `birds flocking' - as they seek to follow the input sketch - and the global behaviour of the `ants foraging' - as they seek to encourage the flock to explore novel regions of the canvas. The paper concludes by exploring the putative `creativity' of this hybrid swarm system in the philosophical light of the `rhizome' and Deleuze's well known `Orchid and Wasp' metaphor

An Investigation into the Merger of Stochastic Diffusion Search and Particle Swarm Optimisation

This study reports early research aimed at applying the powerful resource allocation mechanism deployed in Stochastic Diffusion Search (SDS) to the Particle Swarm Optimiser (PSO) metaheuristic, effectively merging the two swarm intelligence algorithms. The results reported herein suggest that the hybrid algorithm, exploiting information sharing between particles, has the potential to improve the optimisation capability of conventional PSOs

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

Distributed allocation of mobile sensing swarms in gyre flows

We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile sensors (or robots) have a "map" of the environment denoting the locations of the Lagrangian coherent structures or LCS boundaries. Based on this information, we design agent-level hybrid control policies that leverage the surrounding fluid dynamics and inherent environmental noise to enable the team to maintain a desired distribution in the workspace. We establish the stability properties of the ensemble dynamics of the distributed control policies. Since realistic quasi-geostrophic ocean models predict double-gyre flow solutions, we use a wind-driven multi-gyre flow model to verify the feasibility of the proposed distributed control strategy and compare the proposed control strategy with a baseline deterministic allocation strategy. Lastly, we validate the control strategy using actual flow data obtained by our coherent structure experimental testbed.Comment: 10 pages, 14 Figures, added reference

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

While monolithic satellite missions still pose significant advantages in terms of accuracy and operations, novel distributed architectures are promising improved flexibility, responsiveness, and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance satellites are becoming feasible and advantageous alternatives requiring the adoption of new operation paradigms that enhance their autonomy. While autonomy is a notion that is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy is also presented as a necessary feature to bring new distributed Earth observation functions (which require coordination and collaboration mechanisms) and to allow for novel structural functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission Planning and Scheduling (MPS) frameworks are then presented as a key component to implement autonomous operations in satellite missions. An exhaustive knowledge classification explores the design aspects of MPS for DSS, and conceptually groups them into: components and organizational paradigms; problem modeling and representation; optimization techniques and metaheuristics; execution and runtime characteristics and the notions of tasks, resources, and constraints. This paper concludes by proposing future strands of work devoted to study the trade-offs of autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that consider some of the limitations of small spacecraft technologies.Postprint (author's final draft

Cloud-based Content Distribution on a Budget

To leverage the elastic nature of cloud computing, a solution provider must be able to accurately gauge demand for its offering. For applications that involve swarm-to-cloud interactions, gauging such demand is not straightforward. In this paper, we propose a general framework, analyze a mathematical model, and present a prototype implementation of a canonical swarm-to-cloud application, namely peer-assisted content delivery. Our system – called Cyclops – dynamically adjusts the off-cloud bandwidth consumed by content servers (which represents the bulk of the provider's cost) to feed a set of swarming clients, based on a feedback signal that gauges the real-time health of the swarm. Our extensive evaluation of Cyclops in a variety of settings – including controlled PlanetLab and live Internet experiments involving thousands of users – show significant reduction in content distribution costs (by as much as two orders of magnitude) when compared to non-feedback-based swarming solutions, with minor impact on content delivery times

Survey of Inter-satellite Communication for Small Satellite Systems: Physical Layer to Network Layer View

Small satellite systems enable whole new class of missions for navigation, communications, remote sensing and scientific research for both civilian and military purposes. As individual spacecraft are limited by the size, mass and power constraints, mass-produced small satellites in large constellations or clusters could be useful in many science missions such as gravity mapping, tracking of forest fires, finding water resources, etc. Constellation of satellites provide improved spatial and temporal resolution of the target. Small satellite constellations contribute innovative applications by replacing a single asset with several very capable spacecraft which opens the door to new applications. With increasing levels of autonomy, there will be a need for remote communication networks to enable communication between spacecraft. These space based networks will need to configure and maintain dynamic routes, manage intermediate nodes, and reconfigure themselves to achieve mission objectives. Hence, inter-satellite communication is a key aspect when satellites fly in formation. In this paper, we present the various researches being conducted in the small satellite community for implementing inter-satellite communications based on the Open System Interconnection (OSI) model. This paper also reviews the various design parameters applicable to the first three layers of the OSI model, i.e., physical, data link and network layer. Based on the survey, we also present a comprehensive list of design parameters useful for achieving inter-satellite communications for multiple small satellite missions. Specific topics include proposed solutions for some of the challenges faced by small satellite systems, enabling operations using a network of small satellites, and some examples of small satellite missions involving formation flying aspects.Comment: 51 pages, 21 Figures, 11 Tables, accepted in IEEE Communications Surveys and Tutorial

AngelCast: cloud-based peer-assisted live streaming using optimized multi-tree construction

Increasingly, commercial content providers (CPs) offer streaming solutions using peer-to-peer (P2P) architectures, which promises significant scalabil- ity by leveraging clients’ upstream capacity. A major limitation of P2P live streaming is that playout rates are constrained by clients’ upstream capac- ities – typically much lower than downstream capacities – which limit the quality of the delivered stream. To leverage P2P architectures without sacri- ficing quality, CPs must commit additional resources to complement clients’ resources. In this work, we propose a cloud-based service AngelCast that enables CPs to complement P2P streaming. By subscribing to AngelCast, a CP is able to deploy extra resources (angel), on-demand from the cloud, to maintain a desirable stream quality. Angels do not download the whole stream, nor are they in possession of it. Rather, angels only relay the minimal fraction of the stream necessary to achieve the desired quality. We provide a lower bound on the minimum angel capacity needed to maintain a desired client bit-rate, and develop a fluid model construction to achieve it. Realizing the limitations of the fluid model construction, we design a practical multi- tree construction that captures the spirit of the optimal construction, and avoids its limitations. We present a prototype implementation of AngelCast, along with experimental results confirming the feasibility of our service.Supported in part by NSF awards #0720604, #0735974, #0820138, #0952145, #1012798 #1012798 #1430145 #1414119. (0720604 - NSF; 0735974 - NSF; 0820138 - NSF; 0952145 - NSF; 1012798 - NSF; 1430145 - NSF; 1414119 - NSF