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IEEE ROBOTICS & AUTOMATION MAGAZINE 2018年第3期25卷 106-+页

作者： Srinivasan, Srivatsan Distributed Intelligent Systems and Algorithms Laboratory (DISAL) Ecole Polytechnique Federale de Lausanne (EPFL) Lausanne Switzerland

Provides a listing of current committee members and society officers.

关键词： Educational robots Service robots Random access memory Manipulators Manufacturing

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Distributed scalable multi-robot learning using particle swarm optimization

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Swarm Intelligence 2009年第3期3卷 203-222页

作者： Pugh, Jim Martinoli, Alcherio Distributed Intelligent Systems Algorithms Group École Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland

Designing effective behavioral controllers for mobile robots can be difficult and tedious;this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fashion. In multi-robot systems, robots operating in parallel can potentially learn at a much faster rate by sharing information amongst themselves. In this work, we use an adapted version of the Particle Swarm Optimization algorithm in order to accomplish distributed online robotic learning in groups of robots with access to only local information. The effectiveness of the learning technique on a benchmark task (generating high-performance obstacle avoidance behavior) is evaluated for robot groups of various sizes, with the maximum group size allowing each robot to individually contain and manage a single PSO particle. To increase the realism of the technique, different PSO neighborhoods based on limitations of real robotic communication are tested and compared in this scenario. We explore the effect of varying communication power for one of these communication-based PSO neighborhoods. To validate the effectiveness of these learning techniques, fully distributed online learning experiments are run using a group of 10 real robots, generating results which support the findings from our simulations. © Springer Science + Business Media, LLC 2009.

关键词： Multipurpose robots

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Theoretical and Empirical Analysis of Parameter Control Mechanisms in the (1 + (λ, λ)) Genetic Algorithm

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ACM Transactions on Evolutionary Learning and Optimization 2023年第4期2卷 1–39页

作者： Hevia Fajardo, Mario Alejandro Sudholt, Dirk Department of Computer Science University of Sheffield Sheffield United Kingdom Chair of Algorithms for Intelligent Systems University of Passau Passau Germany

The self-adjusting (1 + (λ, λ)) GA is the best known genetic algorithm for problems with a good fitness-distance correlation as in OneMax. It uses a parameter control mechanism for the parameter λ that governs the mutation strength and the number of offspring. However, on multimodal problems, the parameter control mechanism tends to increase λ *** study this problem for the standard Jumpk benchmark problem class using runtime analysis. The self-adjusting (1 + (λ, λ)) GA behaves like a (1 + n) EA whenever the maximum value for λ is reached. This is ineffective for problems where large jumps are required. Capping λ at smaller values is beneficial for such problems. Finally, resetting λ to 1 allows the parameter to cycle through the parameter space. We show that resets are effective for all Jumpk problems: the self-adjusting (1 + (λ, λ)) GA performs as well as the (1 + 1) EA with the optimal mutation rate and evolutionary algorithms with heavy-tailed mutation, apart from a small polynomial *** the way, we present new general methods for translating existing runtime bounds from the (1 + 1) EA to the self-adjusting (1 + (λ, λ)) GA. We also show that the algorithm presents a bimodal parameter landscape with respect to λ on Jumpk. For appropriate n and k, the landscape features a local optimum in a wide basin of attraction and a global optimum in a narrow basin of attraction. To our knowledge this is the first proof of a bimodal parameter landscape for the runtime of an evolutionary algorithm on a multimodal problem. © 2022 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Genetic algorithms

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Formalizing Institutions as Executable Petri Nets for Distributed Robotic systems 11

Formalizing Institutions as Executable Petri Nets for Distri...

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11th European Conference on Artificial Life, ECAL 2011

作者： Pereira, José N. Silva, Porfírio Lima, Pedro U. Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory EPFL Lausanne Switzerland Intelligent Robots and Systems Group Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9780262297141

Institutional Robotics is a new approach to the coordination of distributed robotic systems, drawing inspiration from social sciences. It aims to provide a comprehensive strategy for specifying social interactions among robots in the form of institutions. In this paper, we present a formalism for institutions in the Institutional Robotics model. We apply this formalism to two case studies. The first is concerned with a swarm of simple robots which has to maintain wireless connectivity. The second focuses on role allocation in a robotic team aimed at improving coordination and performance in a transportation task. © 2011 ECAL 2011: The 11th European Conference on Artificial Life. All rights reserved.

关键词： Robotics

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A New Model Indicator to Trade Foreign Exchange Market

A New Model Indicator to Trade Foreign Exchange Market

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International Conference on Advanced intelligent systems for Sustainable Development, AI2SD 2022

作者： Ahouat, Chaimae El Bouchti, Karim Reda, Oussama Mohamed Nadi, Oumaima Ziti, Soumia Rabat Morocco Algorithms Networks Intelligent Systems and Software Engineering Research Team Rabat Morocco

ISBN: (纸本)9783031263835

The Foreign Exchange (FOREX) market is a financial market with a daily volume of around $6.6 trillion. The importance of Forex as the largest market in the world, traders need to have a trading plan to make profits and be a successful trader. A forex trading strategy defines a system that a forex trader uses to determine when to buy or sell a currency pair. There are various forex strategies that traders can use including technical analysis or fundamental analysis. A good forex trading strategy allows for a trader to analyze the market and confidently execute trades with sound risk management techniques. In this paper, we propose a Foreign Exchange strategy for currency markets based on a combination of two technical indicators: Relative Strength Index and Triangular Moving Average Bands as well as the price value. The combination of these latters are ensured by a specific rules when buying and selling positions. The proposed model provides a good number of sell and buy signals depending on the model inputs. We have used MetaTrader 4 to implement our model which it makes easy to automate rules and indicators combinations. In addition, this let traders backtest trading strategies to see how they would have performed in the past. The implemented results showed that the proposed model provides an interesting result. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Sales

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Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp

Assembly of Configurations in a Networked Robotic System: A ...

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IEEE Swarm Intelligence Symposium

作者： Cianci, Christopher M. Nembrini, Julien Prorok, Amanda Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne CH-1015 Lausanne Switzerland

ISBN: (纸本)9781424427048

In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user interaction context, the time required to construct a given spatial configuration is considered as a performance metric. The experimental work reported in this paper starts from global and synchronized localization information, shown to be successful both on a real hardware system and in simulation. In a second step, communication is constrained to a local scale, thus obliging a single designated robot to disseminate the global localization information to the other agents. The reliability of the radio communication channel and its impact upon the performance of the system are considered.

关键词： Communication Research Radiocommunication dike swarms Performance metrics Hardware system small robots Case studies configurability Interactive redundant constraint Desk lamps

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Towards Multi-Level Modeling of Self-Assembling intelligent Micro-systems 09

Towards Multi-Level Modeling of Self-Assembling Intelligent ...

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International Conference on Autonomous Agents and Multiagent systems

作者： Gregory Mermoud Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL-ENAC-ISTE-DISAL Ecole Polytechnique Federale de Lausanne (EPFL) Microsystems Laboratory EPFL-STI-IMT-LMIS Ecole Polytechnique Federale de Lausanne (EPFL)

ISBN: (纸本)9781615673346

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a baseline for assessing the accuracy of models at higher abstraction level. Spatiality is relaxed in Monte Carlo simulations, which still capture the binding energy of each individual aggregate. Finally, we introduce a macroscopic model that only keeps track of the average number of aggregates in each energy state. This model is able to quantitatively and qualitatively predict the dynamics observed at lower, more detailed modeling levels. Since we investigate an idealized system, thus making very few assumptions about the exact nature of the final target system, our framework is potentially applicable to a large body of self-assembling agents ranging from functional micro.-robots endowed with simple sensors and actuators to elementary microfabricated parts. In particular, we show how our suite of models at different abstraction levels can be used for optimizing both the design of the building blocks and the control of the stochastic process.

关键词： Theory Performance Design Aggregation Self-assembly Micro-robotics Monte Carlo simulations Macroscopic modeling Multi-level modeling Monte Carlo technique hierarchical models Abstraction Markov chain theories Macroscopic models Self-assembly aggregates agglomeration

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The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using Distributed Particle Swarm Optimization 12

The Effect of the Environment in the Synthesis of Robotic Co...

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12th European Conference on the Synthesis and Simulation of Living systems: Advances in Artificial Life, ECAL 2013

作者： Mario, Ezequiel Di Navarro, Inaki Martinoli, Alcherio Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Federale de Lausanne Switzerland

ISBN: (纸本)9780262317092

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. While in simple environments it is usually straightforward for human designers to foresee the different conditions a robot will be exposed to, for more complex environments the human design of high-performing controllers becomes a challenging task, especially when the on-board resources of the robots are limited. In this article, we use a distributed implementation of Particle Swarm Optimization to design robotic controllers that are able to navigate around obstacles of different shape and size. We analyze how the behavior and performance of the controllers differ based on the environment where learning takes place, showing that different arenas lead to different avoidance behaviors. We also test the best controllers in environments not encountered during learning, both in simulation and with real robots, and show that no single learning environment is able to generate a behavior general and robust enough to succeed in all testing environments. © 2013 Proceedings of the 12th European Conference on the Synthesis and Simulation of Living systems: Advances in Artificial Life, ECAL 2013. All rights reserved.

关键词： Controllers

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Data Migration from Relational to NoSQL Database: Review and Comparative Study

Data Migration from Relational to NoSQL Database: Review a...

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International Conference on Advanced intelligent systems for Sustainable Development, AI2SD 2022

作者： Saadouni, Chaimae El Bouchti, Karim Reda, Oussama Mohamed Ziti, Soumia Department of Computer Science Intelligent Processing Systems and Security Team Mohammed V University Rabat Morocco Algorithms Networks Intelligent Systems and Software Engineering Research Team Faculty of Sciences Mohammed V University Rabat Morocco

ISBN: (纸本)9783031263835

New storage requirements, analysis, and visualization of Big Data, which includes structured, semi-structured, and unstructured data, have caused the developers in the past decade to begin preferring Big Data databases, such as NoSQL, that comes to overcome the boundaries of relational Databases such as unlimited scalability, high performance, data modeling, data distribution, and continuous availability. Due to those benefits ensured by this new technology, quite recently, considerable attention has been paid to data migration from relational Database to NoSQL Database. So, in this context, the purpose of this paper is to provide a comparative study of some recent approaches proposed by various researchers to migrate data from relational to NoSQL databases, as well as discussing and analyzing the results of those proposed techniques. This research allowed us to gain a basic understanding of the contributions and approaches that have already been made, as well as the benefits and limits of each proposal. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Big data

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Optimal path planning and coverage control for multi-robot persistent coverage in environments with obstacles

Optimal path planning and coverage control for multi-robot p...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Palacios-Gasos, Jose Manuel Talebpour, Zeynab Montijano, Eduardo Sagues, Carlos Martinoli, Alcherio Universidad de Zaragoza Zaragoza Spain Distributed Intelligent Systems and Algorithms Laboratory Ècole Polytechnique Fédrale de Lausanne Lausanne Switzerland

ISBN: (纸本)9781509046331

Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally finds the best paths and coverage actions to keep the desired coverage level over the whole environment. Using Fast Marching Methods, optimal paths are computed in terms of coverage quality, while keeping a safety distance to obstacles. Additionally, our solution enables a computationally efficient evaluation of a list of potential trajectories, allowing us to choose the one that mostly improves the coverage along the whole path. The combination of this algorithm with a Dynamic Window navigation makes our approach competitive in terms of flexibility and robustness in changing environments with existing solutions. Finally, we also propose a coverage action controller, locally computed and optimal, that makes the robots maintain the coverage level of the environment significantly close to the objective. Simulations and real experiments validate the whole approach. © 2017 IEEE.

关键词： Motion planning

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