620 research outputs found
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify and analyse a prominent example of adaptive system: robot swarms equipped with obstacle-avoidance self-assembly strategies. The analysis exploits the statistical model checker PVesta
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA
ANTIDS: Self-Organized Ant-based Clustering Model for Intrusion Detection System
Security of computers and the networks that connect them is increasingly
becoming of great significance. Computer security is defined as the protection
of computing systems against threats to confidentiality, integrity, and
availability. There are two types of intruders: the external intruders who are
unauthorized users of the machines they attack, and internal intruders, who
have permission to access the system with some restrictions. Due to the fact
that it is more and more improbable to a system administrator to recognize and
manually intervene to stop an attack, there is an increasing recognition that
ID systems should have a lot to earn on following its basic principles on the
behavior of complex natural systems, namely in what refers to
self-organization, allowing for a real distributed and collective perception of
this phenomena. With that aim in mind, the present work presents a
self-organized ant colony based intrusion detection system (ANTIDS) to detect
intrusions in a network infrastructure. The performance is compared among
conventional soft computing paradigms like Decision Trees, Support Vector
Machines and Linear Genetic Programming to model fast, online and efficient
intrusion detection systems.Comment: 13 pages, 3 figures, Swarm Intelligence and Patterns (SIP)- special
track at WSTST 2005, Muroran, JAPA
Artificial Collective Intelligence Engineering: a Survey of Concepts and Perspectives
Collectiveness is an important property of many systems--both natural and
artificial. By exploiting a large number of individuals, it is often possible
to produce effects that go far beyond the capabilities of the smartest
individuals, or even to produce intelligent collective behaviour out of
not-so-intelligent individuals. Indeed, collective intelligence, namely the
capability of a group to act collectively in a seemingly intelligent way, is
increasingly often a design goal of engineered computational systems--motivated
by recent techno-scientific trends like the Internet of Things, swarm robotics,
and crowd computing, just to name a few. For several years, the collective
intelligence observed in natural and artificial systems has served as a source
of inspiration for engineering ideas, models, and mechanisms. Today, artificial
and computational collective intelligence are recognised research topics,
spanning various techniques, kinds of target systems, and application domains.
However, there is still a lot of fragmentation in the research panorama of the
topic within computer science, and the verticality of most communities and
contributions makes it difficult to extract the core underlying ideas and
frames of reference. The challenge is to identify, place in a common structure,
and ultimately connect the different areas and methods addressing intelligent
collectives. To address this gap, this paper considers a set of broad scoping
questions providing a map of collective intelligence research, mostly by the
point of view of computer scientists and engineers. Accordingly, it covers
preliminary notions, fundamental concepts, and the main research perspectives,
identifying opportunities and challenges for researchers on artificial and
computational collective intelligence engineering.Comment: This is the author's final version of the article, accepted for
publication in the Artificial Life journal. Data: 34 pages, 2 figure
Adaptive and learning-based formation control of swarm robots
Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation
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