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Using Lazy Agents to Improve the flocking Efficiency of Multiple UAVs

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2021年第3期103卷 53-53页

作者： Song, Yeongho Gu, Myeonggeun Choi, Joonwon Oh, Hyondong Lim, Seunghan Shin, Hyo-Sang Tsourdos, Antonios Ulsan Natl Inst Sci & Technol Sch Mech Aerosp & Nucl Engn Ulsan 44919 South Korea PABLO AIR Co Ltd Incheon South Korea Cranfield Univ Inst Aerosp Sci Cranfield MK43 0AL Beds England

A group of agents can form a flock using the augmented Cucker-Smale (C-S) model. The model autonomously aligns them to a common velocity and maintains a relative distance among the agents in a distributed manner by sharing the information among neighbors. This paper introduces the concept of inactiveness to the augmented C-S model for improving the flocking performance. It involves controlling the energy and convergence time required to form a stable flock. Inspired by the natural world where a few lazy (or inactive) workers are helpful to the group performance in social insect colonies. In this study, we analyzed different levels of inactiveness as a degree of control input effectiveness for multiple fixed-wing UAVs in the flocking algorithm. To find the appropriate inactiveness level for each flock member, the particle swarm optimization-based approach is used as the first step, based on the initial condition of the flock. However, as the significant computational burden may cause difficulties in implementing the optimization-based approach in real time, we also propose a heuristic adaptive inactiveness approach, which changes the inactivity level of selected agents adaptively according to their position and heading relative to the flock center. The performance of the proposed approaches using the concept of lazy (or inactive) agents is verified with numerical simulations by comparing them with the conventional flocking algorithm in various scenarios.

关键词： Multi-agent system flocking algorithm Augmented Cucker-Smale model Inactiveness Particle swarm optimization

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Autonomous Formation Control and Target Tracking in Distributed Multi-agent System 3

Autonomous Formation Control and Target Tracking in Distribu...

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3rd International Conference on Advances in Computing, Communications and Informatics (ICACCI)

作者： Barve, Aabha Nene, Manisha J. Def Inst Adv Technol Dept Appl Math Pune Maharashtra India Def Inst Adv Technol Dept Comp Sci & Engn Pune Maharashtra India

ISBN: (纸本)9781479930807

A Multi-agent System can be considered as distributed system consisting of multiple interacting intelligent agents acting on a common environment. Agents in multi-agent system achieve the global objective of the system by controlling the local parameters of individual agent. Self-organizing, self-steering and self-configuring capabilities are highly desired in the functioning of a distributed system. Nature inspired flocking algorithms have the potential to introduce these capabilities in the functioning of distributed system due to their inherent emergent behaviour. The contribution of this paper is twofold. Firstly, a novel algorithm is proposed for achieving self-organized circular formation control while tracking a target. Second, the proposed algorithm is analyzed for performance parameters and is found to be efficient. Simulations are carried out and the proposed algorithm is verified.

关键词： Multi-agent System Formation Control Target Tracking flocking algorithm

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FORBID: Cope with Byzantine Behaviors in Wireless Multi-Path Routing and Forwarding

FORBID: Cope with Byzantine Behaviors in Wireless Multi-Path...

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54th Annual IEEE Global Telecommunications Conference (GLOBECOM)

作者： Su, Xueyuan Peng, Gang Chan, Sammy Yale Univ Dept Comp Sci New Haven CT 06511 USA City Univ Hong Kong Dept Elect Engn Kowloon Peoples R China

ISBN: (纸本)9781424492688

Consider multi-path routing and forwarding scenarios in wireless ad hoc networks. Rational and Byzantine nodes both might deviate from the protocol. However, their intentions and behaviors are different. To extend our previous work on generalized second price (GSP) auction for stimulating rational nodes for cooperation, we propose FORBID mechanism in this work to cope with Byzantine behaviors. The core of the FORBID mechanism is a decentralized reputation system. Based on available evidence, each node relies on Bayesian inference to internally update its reputation beliefs that how reliable each other node is. Different from the passive overhearing techniques such as "watchdog", each source node under FORBID actively triggers detection process to collect evidence towards Byzantine behaviors. In addition, FORBID includes a flocking algorithm to allow careful dissemination of reputation information and thus shortens the misbehavior detection time.

关键词： Wireless ad hoc networks multi-path routing and forwarding Bayesian inference flocking algorithm

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Text Document Clustering with Distributed Noun with its compactness using Relevance Measure and Heuristic Function 2

Text Document Clustering with Distributed Noun with its comp...

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2015 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS)

作者： Vijayalakshmi, S. Manimegalai, D. Bharathiyar Univ Dept Comp Sci Coimbatore Tamil Nadu India Natl Engn Coll Dept Informat Technol Kovilpatti India

ISBN: (纸本)9781479968183

This paper presents and discusses some ensemble attribute selection methods for text document clustering. In this research, attributes are extracted in two levels. The first level document representation based on distribution of compact noun were constructed and relevance measure is applied on the distributed compact noun-document representation. it is used evaluate the importance of the noun. It has been widely studied in supervised learning, whereas it is still relatively rare researched in unsupervised learning. Vector Space Model has been used in many text mining tasks, where it has achieved good results as well as acceptable computational complexity. So the proposed document representations are exploited the nf-idf style equation. In this work, distributional nouns are selected into three different ways. First method, the distributed nouns are integrated with relevance measures, and secondly, relevance based distributional nouns are incorporated with Heuristic function to find importance of attributes. The distributional noun representations are used to discriminate the Nouns and measure the semantic similarity between documents. This proposed feature selection method have been successfully applied for Text clustering with flocking algorithm, HCLK Means Clustering and evaluated the efficiency of our Document representation with both synthetic and a real datasets. It is found that the proposed algorithm identifies better feature sets and improves the clustering quality.

关键词： Distributed Noun attributes flocking algorithm HCLK Mean RiTa WordNet Relevance Measure Heuristic function

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Cluster-based Position Tracking of Mobile Sensors

Cluster-based Position Tracking of Mobile Sensors

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IEEE Conference on Wireless Sensors (ICWiSE)

作者： Kumar, Vikram Bergmann, Neil W. Ahmad, Izanoordina Jurdak, Raja Kusy, Branislav Univ Queensland Sch Informat Tech & Elec Engn Brisbane Qld Australia CSIRO Data61 Pullenvale Australia

ISBN: (纸本)9781509016266

Tracking movement of mobile nodes has received significant scientific and commercial interest, but long term tracking of resource-constrained mobile nodes remains challenging due to the high energy consumption of satellite receivers. Cooperative position tracking has been proposed for energy efficiency, however, all the cooperative schemes use opportunistic cooperation and optimize for either energy or accuracy. Considering the existence of a reasonably stable group of mobile nodes like animals, birds, and mobile assets, we propose a cluster-based cooperative tracking algorithm, where cluster head centrally coordinates resource usage among cluster members. Variants of this strategy include the use of a cooperative Kalman filter with and without inertial sensor inputs to estimate nodes' positions. We use the Boid flocking algorithm to generate group position movements in 3D and perform various experiments to compare the energy and position accuracy tradeoff of our proposed scheme with individual-based tracking and existing cooperative schemes. We perform the experiments for fixed periodic GPS sampling and dynamic GPS sampling triggered by node position error uncertainty tolerance limit. Experiments results show that in periodic sampling scheme cooperative tracking yields more than one-quarter reduction in energy consumption and more than one-third improvement in position accuracy over individual-based tracking, however, results for dynamic sampling scheme are comparable with existing cooperative scheme.

关键词： group tracking cooperative localization energy-accuracy tradeoff cooperative Kalman filter energy efficient tracking flocking algorithm cluster based tracking

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Distributed Noun Attribute Based on its First Appearance for Text Document Clustering 5

Distributed Noun Attribute Based on its First Appearance for...

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5th IEEE International Conference on Computational Intelligence and Computing Research (IEEE ICCIC)

作者： Vijayalakshmi, S. Manimegalai, D. NMSSVN Coll Dept Comp Applicat Madurai Tamil Nadu India Natl Engn Coll Dept Informat Technol Kovilpatti India

ISBN: (纸本)9781479939756

Selection of attributes plays a vital role to improve the quality of clustering. We present a comparative study on three attribute selection techniques and it reveals unattempt combinations, and provides guidelines in selecting attributes. It is occasionally studied in unsupervised learning;however it has been extensively explored in supervised learning. The suggested framework is primarily concerned with the problem of determining and selecting key distributional noun attributes, which are nominated by ranking the attributes according to the importance measure scores from the original noun attributes without class information. Experimental results on Reuter, 20 Newsgroup, WebKB and SCJC (Specific Crime Judgment Corpus) datasets indicate that algorithm with different scores in the context are able to identify the important attributes.

关键词： Distributed Noun Attributes flocking algorithm HCL-K Meanalgorithm FirstAppearance

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Observation of Synchronization Phenomena in Structured flocking Behavior

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JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS 2013年第5期17卷 715-720页

作者： Yamauchi, Sho Kawamura, Hidenori Suzuki, Keiji Hokkaido Univ Grad Sch Informat Sci & Technol North 14 West 9 Sapporo Hokkaido Japan

flocking algorithms for multi-agent systems are distributed algorithms that generate complex formational movement despite having simple rules for each agent. These algorithms, known as swarm intelligence, are flexible and robust. However, to exploit these features to generate flexible behavior in an autonomous system, greater flexibility is needed. To achieve this, these algorithms are extended to enable arbitrary lattice formation. In addition, extended flocking algorithms can be assumed to be the aggregation of oscillators and observed the behavior of synchronization. It is difficult to explain the behavior of extended flocking algorithms as a consensus problem but, by assuming the flock as the set of oscillators, it can be explained as a synchronization phenomenon.

关键词： flocking algorithm autonomous system synchronization

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Application of Robot Operating System in Robot Flocks 10

Application of Robot Operating System in Robot Flocks

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IEEE 10th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference (UEMCON)

作者： Fernandes, Jordan Li, Keye Mirabile, Joey Vesonder, Gregg Stevens Inst Technol Sch Syst & Enterprises Hoboken NJ 07030 USA

ISBN: (纸本)9781728138855

flocking behavior is an exercise in both control and coordination. Members need to move in near-perfect time with each other to maintain a safe, but compact, distance amongst themselves. This balance could have a number of useful applications, ranging from automated vehicles to power grid coordination. Moreover, per Reynolds (1987), flocking behavior can be summarized as an algorithm, which automated systems can easily consume. Inspired by this premise, the group blueprinted a robot flock using Turtlebot3 Burgers and Robot Operating System, or ROS. To begin, the group created an algorithm in Scratch, a graphical programming language. Per Reynolds' model, as long as each individual member knows and follows the algorithm, a flock will form without any outside influence. The group theorized that this modular approach would bide well with the ROS system of nodes and messages. By deeming each member a flocking node and having a remote "master" perform functions such as localization, the ROS framework would naturally support robot flocking. However, after transcribing their program to C++, the group found some ongoing issues in development. They struggled to adapt ROS's message commands into their program, and the Burgers' given localization program had trouble supporting a multi-robot flock. Regardless, with further research, the group still believes that ROS can give rise to a viable flock.

关键词： ROS Turtlebot3 flocking algorithm flocking simulation Transform mapping Autonomous systems

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UAV Swarm Control Based on Hybrid Bionic Swarm Intelligence

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Guidance, Navigation and Control 2023年第2期3卷 136-155页

作者： Ruitao Fan Jintao Wang Weixin Han Bin Xu School of Automation Northwestern Polytechnical UniversityXi'anP.R.China

Inspired by the pigeon behavior pattern,this paper proposes an Unmanned Aerial Vehicle(UAV)swarm control scheme based on hybrid bionic sw arm intelligence,which can realize multi-UAV obstacle avoidance d uring formation ***,the leadership mechanism of pigeon flock is mapped to UAV swamm,and the virtual leaders are introduced to solve the unfixed relative position of level-1 leader ***,the control law for UAV swarm formation is designed based on artificial potential field theory and analysis of the bionic *** avoid local minima,a guidance phase is added to the UAV formation *** analyzing the flocking algorithm,a cooperative interaction control model of UAV swarm is ***,the coopentive interactive control law for UAV sw arm obstacle avoidance is proposed based on improved artifcial potential feld *** the two bionic swarm control models are combined to realize the formation and obstacle avoidance of UAV swarm based on mixed bionic swarm ***,a series of simulations are conducted to demonstrate the proposed hybrid UAV sw arm control algorithm.

关键词： UAV formation control pigeon flock leadership mechanism obstacle avoidance flocking algorithm artificial potential field

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flocking Control under Virtual Leader of USVs with Obstacle Avoidance

Flocking Control under Virtual Leader of USVs with Obstacle ...

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第三十九届中国控制会议

作者： Yuanhui Wang Weijie Xie Xiaoyun Zhang College of Automation Harbin Engineering University Harbin Marine Boiler and Turbine Research Institute

It focuses on solving the problem of autonomous obstacle avoidance for unmanned surface vehicles（USVs） formation ***,a three-degree-of-freedom kinematics and dynamic model of USV is ***,the flocking algorithm is used to solve the problem of autonomous formation control for *** the flocking algorithm is generally applied to particle-based model,it can’t be directly applied to underactuated ***,a virtual force point is introduced and a force analysis is carried out,which converts the control inputs in the flocking algorithm into the longitudinal control and heading *** this case,it can achieve the autonomous formation of the USVs and the purpose of tracking virtual ***,combining obstacle avoidance algorithm based on potential function with flocking algorithm to achieve obstacle avoidance for the formation ***,the effectiveness of the algorithm and model is verified by simulation experiments.

关键词： USV Formation Control Obstacle Avoidance flocking algorithm Virtual Leader

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