Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots

作     者：Jevtic, Aleksandar Gutierrez, Alvaro 

作者机构：Univ Politecn Madrid ETSI Telecomunicac E-28040 Madrid Spain 

出 版 物：《SENSORS》 (传感器)

年 卷 期：2011年第11卷第11期

页      面：10880-10893页

核心收录：

学科分类：0710[理学-生物学] 071010[理学-生物化学与分子生物学] 0808[工学-电气工程] 07[理学] 0804[工学-仪器科学与技术] 0703[理学-化学] 

基　　金：Gestion de la Demanda Electrica Domestica con Energia Solar Fotovoltaica project Spanish Ministerio de Educacion y Ciencia [ENE2007-66135] N4C-Networking for Challenged Communications Citizens of European Commission [FP7-ICT-223994-N4C] 

主　　题：swarm robotics multi-agent systems cooperative sensors distributed task allocation parameter optimization genetic algorithms 

摘      要：Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA), previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce.