Swarm Intelligence

Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone swarms to solve problems in defense, agriculture, industrial automation, and humanitarian relief is an emerging technology. However, flocking of aerial robots while maintaining multiple objectives, like collision avoidance, high speed etc., is still a challenge. This paper proposes optimized flocking of drones in a confined environment with multiple conflicting objectives. The considered objectives are collision avoidance (with each other and the wall), speed, correlation, and communication (connected and disconnected agents). Principal Component Analysis (PCA) is applied for dimensionality reduction and understanding of the collective dynamics of the swarm. The control model is characterized by 12 parameters which are then optimized using a multi-objective solver (NSGA-II). The obtained results are reported and compared with that of the CMA-ES algorithm. The study is particularly useful as the proposed optimizer outputs a Pareto Front representing different types of swarms that can be applied to different scenarios in the real world.

This work proposes a control law for efficient area coverage and pop-up threat detection by a robot swarm inspired by the dynamical behavior of ant colonies foraging for food. In the first part, performance metrics that evaluate area coverage in terms of characteristics such as rate, completeness and frequency of coverage are developed. Next, the Keller–Segel model for chemotaxis is adapted to develop a virtual-pheromone-based method of area coverage. Sensitivity analyses with respect to the model parameters such as rate of pheromone diffusion, rate of pheromone evaporation, and white noise intensity then identify and establish noise intensity as the most influential parameter in the context of efficient area coverage and establish trends between these different parameters which can be generalized to other pheromone-based systems. In addition, the analyses yield optimal values for the model parameters with respect to the proposed performance metrics. A finite resolution of model parameter values were tested to determine the optimal one. In the second part of the work, the control framework is expanded to investigate the efficacy of non-Brownian search strategies characterized by Lévy flight, a non-Brownian stochastic process which takes variable path lengths from a power-law distribution. It is shown that a control law that incorporates a combination of gradient following and Lévy flight provides superior area coverage and pop-up threat detection by the swarm. The results highlight both the potential benefits of robot swarm design inspired by social insect behavior as well as the interesting possibilities suggested by considerations of non-Brownian noise.

This paper presents an extension of the state of the art theoretical model utilized for understanding the stability criteria of the particles in particle swarm optimization algorithms. Conditions for order-1 and order-2 stability are derived by modeling, in the simplest case, the expected value and variance of a particle’s personal and neighborhood best positions as convergent sequences of random variables. Furthermore, the condition that the expected value and variance of a particle’s personal and neighborhood best positions are convergent sequences is shown to be a necessary condition for order-1 and order-2 stability. The theoretical analysis presented is applicable to a large class of particle swarm optimization variants.

In this paper, we present the design of a new structural extension for the e-puck mobile robot. The extension may be used to transform what is traditionally a swarm robotics platform into a self-reconfigurable modular robotic system. We introduce a modified version of a previously developed collective locomotion algorithm and present new experimental results across three different themes. We begin by investigating how the performance of the collective locomotion algorithm is affected by the size and shape of the robotic structures involved, examining structures containing up to nine modules. Without alteration to the underlying algorithm, we then analyse the implicit self-assembling and self-reconfiguring capabilities of the system and show that the novel use of ‘virtual sensors’ can significantly improve performance. Finally, by examining a form of environment driven self-reconfiguration, we observe the behaviour of the system in a more complex environment. We conclude that the modular e-puck extension represents a viable platform for investigating collective locomotion, self-assembly and self-reconfiguration.

A number of theoretical studies of particle swarm optimization (PSO) have been done to gain a better understanding of the dynamics of the algorithm and the behavior of the particles under different conditions. These theoretical analyses have been performed for both the deterministic PSO model and more recently for the stochastic model. However, all current theoretical analyses of the PSO algorithm were based on the stagnation assumption, in some form or another. The analysis done under the stagnation assumption is one where the personal best and neighborhood best positions are assumed to be non-changing. While analysis under the stagnation assumption is very informative, it could never provide a complete description of a PSO’s behavior. Furthermore, the assumption implicitly removes the notion of a social network structure from the analysis. This paper presents a generalization to the theoretical deterministic PSO model. Under the generalized model, conditions for particle convergence to a point are derived. The model used in this paper greatly weakens the stagnation assumption, by instead assuming that each particle’s personal best and neighborhood best can occupy an arbitrarily large number of unique positions. It was found that the conditions derived in previous theoretical deterministic PSO research could be obtained as a specialization of the new generalized model proposed. Empirical results are presented to support the theoretical findings.

In this paper, we investigate how to design an effective interface for remote multi-human–multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human case. Yet, this is a critical problem to solve to make complex, large-scale missions achievable in which direct operator involvement is impossible or undesirable, and robot swarms act as a semi-autonomous agents. This paper’s contribution is twofold. The first contribution is an exploration of the design space of computer-based interfaces for multi-human multi-robot operations. In particular, we focus on agent transparency and on the factors that affect inter-human communication in ideal conditions, i.e., without communication issues. Our second contribution concerns the same problem, but considering increasing degrees of information loss, defined as intermittent reception of data with noticeable gaps between individual receipts. We derived a set of design recommendations based on two user studies involving 48 participants.

In this paper, heuristic solution techniques for the multi-objective orienteering problem are developed. The motivation stems from the problem of planning individual tourist routes in a city. Each point of interest in a city provides different benefits for different categories (e.g., culture, shopping). Each tourist has different preferences for the different categories when selecting and visiting the points of interests (e.g., museums, churches). Hence, a multi-objective decision situation arises. To determine all the Pareto optimal solutions, two metaheuristic search techniques are developed and applied. We use the Pareto ant colony optimization algorithm and extend the design of the variable neighborhood search method to the multi-objective case. Both methods are hybridized with path relinking procedures. The performances of the two algorithms are tested on several benchmark instances as well as on real world instances from different Austrian regions and the cities of Vienna and Padua. The computational results show that both implemented methods are well performing algorithms to solve the multi-objective orienteering problem.