Paper Info
Title
Multi-source Signals Guiding Swarm Robots Search
Abstract
Victim search with swarm robots on gas outburst spot in coal mines is investigated. Upon modeling swarm robotic system with extended particle swarm optimization, heterogeneous signals are fused by each robot independently as fitness evaluate. To fuse signals of intermittent sound of call for help, periodic radio frequency waves and continuous gas, concepts of detection-success binary logic and perceptual event are introduced into describing detection process. Based on statistical properties, detectable range, localization type and accuracy, priority is determined with information entropy-based criteria. Then the best-found position is decided in a distributed fashion through election operation. Simulation conducted in closed signal propagation environment indicates the approximate relation between fusion value and distance, i.e., the nearer the robot is far away from target, the higher the fusion of signals.
Year
DOI
Venue
2009
10.1007/978-3-642-02568-6_56
IEA/AIE
Keywords
Field
DocType
best-found position,robots search,approximate relation,fusion value,swarm robotic system,closed signal propagation environment,gas outburst spot,swarm robot,extended particle swarm optimization,multi-source signals guiding swarm,continuous gas,coal mine,information entropy,coal mining,particle swarm optimization,radio frequency,swarm robotics,swarm intelligence
Particle swarm optimization,Swarm behaviour,Simulation,Computer science,Swarm intelligence,Multi-swarm optimization,Real-time computing,Robot,Entropy (information theory),Radio propagation,Swarm robotics
Conference
Volume
ISSN
Citations 
5579
0302-9743
0
PageRank 
References 
Authors
0.34
6
4
Name
Order
Citations
PageRank
Songdong Xue1244.31
Jianchao Zeng293094.89
Jing Du300.34
Xiaomei Yang402.37