Particle Swarm Optimization Based Source Seeking

Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays with distance, noisy environments make it extremely difficult to describe and model a decay function. This paper addresses our work with seeking maximum signal strength in a continuous electromagnetic signal source with mobile robots, using Particle Swarm Optimization (PSO). A one to one correspondence with swarm members in a PSO and physical Mobile robots is established and the positions of the robots are iteratively updated as the PSO algorithm proceeds forward. Since physical robots are responsive to swarm position updates, modifications were required to implement the interaction between real robots and the PSO algorithm. The development of modifications necessary to implement PSO on mobile robots, and strategies to adapt to real life environments such as obstacles and collision objects are presented in this paper. Our findings are also validated using experimental testbeds.Comment: 13 pages, 12 figure

Batch Reinforcement Learning on the Industrial Benchmark: First Experiences

The Particle Swarm Optimization Policy (PSO-P) has been recently introduced and proven to produce remarkable results on interacting with academic reinforcement learning benchmarks in an off-policy, batch-based setting. To further investigate the properties and feasibility on real-world applications, this paper investigates PSO-P on the so-called Industrial Benchmark (IB), a novel reinforcement learning (RL) benchmark that aims at being realistic by including a variety of aspects found in industrial applications, like continuous state and action spaces, a high dimensional, partially observable state space, delayed effects, and complex stochasticity. The experimental results of PSO-P on IB are compared to results of closed-form control policies derived from the model-based Recurrent Control Neural Network (RCNN) and the model-free Neural Fitted Q-Iteration (NFQ). Experiments show that PSO-P is not only of interest for academic benchmarks, but also for real-world industrial applications, since it also yielded the best performing policy in our IB setting. Compared to other well established RL techniques, PSO-P produced outstanding results in performance and robustness, requiring only a relatively low amount of effort in finding adequate parameters or making complex design decisions

A Particle Swarm Optimization-based Flexible Convolutional Auto-Encoder for Image Classification

Convolutional auto-encoders have shown their remarkable performance in stacking to deep convolutional neural networks for classifying image data during past several years. However, they are unable to construct the state-of-the-art convolutional neural networks due to their intrinsic architectures. In this regard, we propose a flexible convolutional auto-encoder by eliminating the constraints on the numbers of convolutional layers and pooling layers from the traditional convolutional auto-encoder. We also design an architecture discovery method by using particle swarm optimization, which is capable of automatically searching for the optimal architectures of the proposed flexible convolutional auto-encoder with much less computational resource and without any manual intervention. We use the designed architecture optimization algorithm to test the proposed flexible convolutional auto-encoder through utilizing one graphic processing unit card on four extensively used image classification datasets. Experimental results show that our work in this paper significantly outperform the peer competitors including the state-of-the-art algorithm.Comment: Accepted by IEEE Transactions on Neural Networks and Learning Systems, 201