Paper Info
Title
Controlling Swarm Robots For Target Search In Parallel And Asynchronously
Abstract
To control swarm robots with extended particle swarm optimisation approach for target search, target signals should be detected and fused as fitness evaluate due to the inherent parallel processing property caused by spatial interspersed of robots in search environment. Also, differences in sampling frequency of sensors and communication delays make it realistic to control such swarm systems asynchronously. Therefore, two asynchronous update principles, i.e., the communication cycle-based and evolution position-based control strategies are presented in case of target search. Besides, a concept of time-varying character swarm is proposed to facilitate decision-making on the best-found position. Each robot detects signals in a fine-grained parallel way and compares fusion of signals with the best in its character swarm. Then velocities and positions of individual robots are updated immediately. But the shared information within character swarm is updated asynchronously according to different control principles only. Simulation results indicate that the communication cycle-based strategy has advantage over the evolution position-based control strategy in search efficiency.
Year
DOI
Venue
2009
10.1504/IJMIC.2009.030082
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL
Keywords
Field
DocType
swarm intelligence, swarm robotics, target search, extended particle swarm optimisation, parallel process, asynchronous control
Particle swarm optimization,Robot control,Swarm behaviour,Ant robotics,Swarm intelligence,Real-time computing,Control engineering,Multi-swarm optimization,Artificial intelligence,Robot,Mathematics,Swarm robotics
Journal
Volume
Issue
ISSN
8
4
1746-6172
Citations 
PageRank 
References 
4
0.43
5
Authors
2
Name
Order
Citations
PageRank
Songdong Xue1244.31
Jianchao Zeng293094.89