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Dynamic Formation of Robot Movement Route in Nondeterministic Environment with Bypassing Stationary and Nonstationary Obstacles

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PATTERN RECOGNITION AND IMAGE ANALYSIS 2024年第3期34卷 543-548页

作者： Lebedev, O. B. Beskhmelnov, M. I. Russian Technol Univ MIREA Moscow 119454 Russia

The work describes a hybrid algorithm for the dynamic formation of a robot's movement route in nondeterministic environments with bypassing stationary and nonstationary obstacles for two-dimensional space, based on the integration of wave and ant algorithms, which makes it possible to build trajectories of minimum length in real time with simultaneous optimization of a number of criteria for the quality of the constructed path. Restrictions preventing the construction of a trajectory from the current position are identified during the construction process. The trajectory is constructed step by step. The entire trajectory connecting the robot's initial position with the target position is a collection of individual sections. The time complexity of the algorithm depends on the lifespan of the colony, l (number of iterations);the number of graph vertices, n;the number of ants, m;and is estimated as O(ln2m).

关键词： trajectory planning partial uncertainty two-dimensional space stationary and nonstationary obstacles wave algorithm ant algorithm hybridization

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Possibility and Impossibility of Propagation Safety and Reliability: A 1-Safe and Reliable Snap-Stabilizing Broadcast algorithm

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IEEE TRANSACTIONS ON DEPENDABLE AND SECURE COMPUTING 2023年第3期20卷 2174-2187页

作者： Al Jady, Zahraa Jawad Karaata, Mehmet Hakan Kuwait Univ Dept Comp Engn Safat Kuwait 13060 Kuwait

Propagation safety and propagation reliability, are important building blocks for secure network protocols, defense and safety mechanisms, and command and control systems. Propagation safety refers to the broadcasting of only those messages that have actually originated from a legitimate source. Propagation reliability, on the other hand, refers to the propagation of a message to every node in the system exactly once. In this article, we first prove that it is impossible to devise a safe self- or snap-stabilizing broadcast algorithm. We then propose the first self- and snap-stabilizing broadcast algorithm with the propagation 1-safety and the propagation reliability properties. Starting in an arbitrary initial configuration or after a fault, our proposed algorithm implements propagation 1-safety ensuring that a spurious message, a message that did not originate from the legitimate root process, can be sent by a process to its neighbors, however, it cannot be forwarded further. In addition, the propagation reliability property of the proposed algorithm ensures that a legitimate message reaches all system processes exactly once.

关键词： Safety Reliability Signal processing algorithms Protocols Delays Transient analysis Fault tolerant systems Echo algorithms distributed systems fault-tolerance stabilization safety 1-safe broadcast wave algorithm self-stabilization snap-stabilization propagation

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Hybrid algorithm of Mobile Position-Trajectory Control 8th

Hybrid Algorithm of Mobile Position-Trajectory Control

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8th Computer Science On-Line Conference (CSOC)

作者： Veselov, Gennady E. Lebedev, Boris K. Lebedev, Oleg B. Kostyuk, Andrey I. Southern Fed Univ Rostov Na Donu Russia

ISBN: (纸本)9783030198107

The paper describes a hybrid algorithm of position-trajectory control of a moving object, based on the integration of the wave and ant algorithms. The process of tracing the trajectory is carried out step by step. At each step relative to the current position of the moving object, a zone is formed within which all the obstacles are localized with the help of the radar, after which a separate trajectory section is constructed which is a continuation of the previously constructed section. And the entire trajectory is a collection of individual sections. The time complexity of this algorithm depends on the ant colony lifetime l (the number of iterations), the number of vertices of the graph n, and the number of ants m, and is defined as O(l center dot n(2)center dot m).

关键词： Trajectory planning Partial uncertainty Two-dimensional space wave algorithm Ant algorithm Hybridization

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Distributed strategy for robots recruitment in swarm-based systems

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INTERNATIONAL JOURNAL OF BIO-INSPIRED COMPUTATION 2016年第2期8卷 99-108页

作者： de Souza e Silva Junior, Luneque Del Rio Nedjah, Nadia Univ Fed Rio de Janeiro COPPE Syst Engn & Comp Sci Program Ctr Tecnol Cidade UnivBloco H BR-21941 Rio De Janeiro Brazil Univ Estado Rio De Janeiro Fac Engn Dept Elect Engn & Telecommun Rua Sao Francisco Xavier 524 Rio De Janeiro Brazil

In a scenario wherein several tasks must be done cooperatively by a robotic swarm, it is sometimes mandatory to prescribe the robots that should execute each one of those tasks. A problem related to the division of labour among the swarm members is the robot recruitment. When a specific robot needs assistance, it must create a group, selecting other robots to help in the execution of the given task. The main contribution of this work is the development of a distributed recruitment strategy based mainly on the propagation of messages among neighbouring robots. The algorithm is evaluated through simulations, wherein some recruitment features are analysed by subjecting the swarm to different conditions, such as the total number of robots in the swarm and the number of robots that start the recruitment. This strategy is promising, since robots have no global knowledge about the swarm, relying only in the neighbourhood information.

关键词： swarm robotics recruitment asynchronous communication distributed algorithms wave algorithm

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A Balanced Approach for Hazardous Waste Allocation Problem

A Balanced Approach for Hazardous Waste Allocation Problem

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5th International Conference on Modeling, Simulation and Applied Optimization (ICMSAO)

作者： Kanoun, Ines Masmoudi, Youssef Chabchoub, Habib Aouni, Belaid Univ Sfax Res Unity LOGIQ High Inst Ind Management Sfax Tunisia Univ Sfax High Sch Commerce Sfax Tunisia Univ Sfa Inst Adv Business Studies Res Unity MODEOR Sfax Tunisia Laurentian Univ Sch Commerce & Adm Fac Management Sudbury PQ Canada

ISBN: (纸本)9781467358149;9781467358125

The hazardous waste management is composed of three components: the allocation of the different hazardous waste generators, the hazardous waste routing and the hazardous waste location problems. In this paper, we focus on the allocation problem. It is very important to perform this task since it affects the location and the routing problems. Minimizing the risk and maximizing the equity distribution of risk are the major objectives of the hazardous waste management. Hence, the use of clustering approach to classify the hazardous waste generators needs to be balanced. In this regard, a balancing approach is proposed to ensure the equity among the hazardous waste clusters.

关键词： Hazardous Waste Allocation Balancing K-Means algorithm Clustering Equity wave algorithm

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A Balanced Approach for Hazardous Waste Allocation Problem

A Balanced Approach for Hazardous Waste Allocation Problem

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International Conference on Modeling, Simulation and Applied Optimization

作者： Ines Kanoun Habib Chabchoub Youssef Masmoudi Belaid Aouni Research unity of LOGIQ High Institute of Industrial Management University of Sfax Research unity of MODEOR Institute of Advanced Business Studies University of Sfax High School of Commerce University of Sfax Decision Aid Research Group School of Commerce and Administration Faculty of Management Laurentian University

ISBN: (纸本)9781467358125

关键词： Hazardous Waste Allocation Balancing K-Means algorithm Clustering Equity wave algorithm

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Mobile robot navigation based on EWA with adaption of particle filter and map merging algorithms for localization and mapping

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INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 2011年第3期12卷 451-459页

作者： Saitov, Dilshat Lee, Suk Gyu Yeungnam Univ Dept Elect Engn Kyongsan 712749 South Korea

This paper mainly focuses on the improvement of the navigation in mobile robot systems. There are three key components of a mobile robot system such as the ability to localize itself accurately and, simultaneously, to build a map of the surroundings, and finally to navigate effectively in an unknown environment. This paper mainly focused on the establishment of a methodology to model the control system that optimizes the behavior rules using EWA (Extended wave algorithm). Heuristic method of the EWA lies in finding the most prospective destination point, while navigation based on WA (wave algorithm) always uses the closest frontier cell as the next destination point. Also, this paper takes into account map merging and particle filter as map building and localization techniques, respectively. The overall algorithm has been tested extensively in simulation runs. The results given in this paper demonstrate that our algorithm significantly reduces the exploration time compared to previous approaches.

关键词： Navigation Mapping Localization Multi-robot System wave algorithm

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Diffusing Method for Unknown Environment Exploration in Multi Robot Systems 1

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1st International Conference on Swarm Intelligence

作者： Saitov, Dilshat Han, Ki Joon Lee, Suk Gyu Yeungnam Univ Dept Elect Eng 214-1 Dae Dong Gyongsan 712749 Gyongbuk South Korea Kyungbuk Nattional Univ Sch Elect Engn & Comp Sci Daegu South Korea

ISBN: (数字)9783642134951

ISBN: (纸本)9783642134944

This paper proposes an algorithm for an efficient navigation and building a precise map in multi-robot systems One of the fundamental problems in mobile robotics is an effective investigation of unknown environments The basis of navigation algorithm in this Paper is Extented wave algorithm. which is in out point of view, appropriate in getting accurate Secondly, particle filter. which proved its reliability, was considered as localization algorithm overlapping algorithm is responsible for mapping The technique has been tested extensively in simulation runs The results given in this paper demonstrate that out algorithm significantly reduces the exploration time compared to previous approaches

关键词： navigation mapping localization multi-robot system wave algorithm

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