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Title: Asynchronous particle swarm optimization-based search with a multi-robot system: simulation and implementation on a real robotic system
Authors: Akat, Salih Burak
Gazi, Veysel
Marques, Lino
Keywords: [No Keywords]
Issue Date: 2010
Publisher: Tubitak Scientific & Technical Research Council Turkey
Source: 16th National IFAC Symposium on Automatic Control, TOK -- 2008 -- undefined, TURKEY
Abstract: In this article we consider a version of the Particle Swarm Optimization (PSO) algorithm, which is appropriate for search tasks of multi-agent systems consisting of small robots with limited sensing capability. The proposed method adopts asynchronous mechanism for information exchange and position (way point) updates of the agents. Moreover, at each (information exchange) step the agents communicate with only a possibly different subset of the other agents leading to a dynamic neighborhood topology. We implement the algorithm using the Player/Stage realistic robot simulator as well as on real KheperaIII robots using experimentally collected realistic data of ethanol gas concentration. Simulation and implementation results show that the algorithm performs well in a sense that the robots are able to move towards and aggregate in areas with high gas concentration around the maximum points of the gas concentration profile representing the environment.
ISSN: 1300-0632
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
TR Dizin İndeksli Yayınlar / TR Dizin Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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