Benchmark of swarm robotics distributed techniques in a search task
Autor(a) principal: | |
---|---|
Data de Publicação: | 2014 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10316/27164 https://doi.org/10.1016/j.robot.2013.10.004 |
Resumo: | This paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional search cannot find a satisfactory solution. For instance, exhaustive multi-robot search techniques, such as sweeping the environment, allow for a better avoidance of local solutions but require too much time to find the optimal one. Moreover, such techniques tend to fail in finding targets within dynamic and unstructured environments. This paper presents experiments conducted to benchmark five state-of-the-art algorithms for cooperative exploration tasks. The simulated experimental results show the superiority of the previously presented Robotic Darwinian Particle Swarm Optimization (RDPSO), evidencing that sociobiological inspiration is useful to meet the challenges of robotic applications that can be described as optimization problems (e.g., search and rescue). Moreover, the RDPSO is further compared with the best performing algorithms within a population of 14 e-pucks. It is observed that the RDPSO algorithm converges to the optimal solution faster and more accurately than the other approaches without significantly increasing the computational demand, memory and communication complexity. |
id |
RCAP_45307a2dbda3a2cd8473280da3ba3d47 |
---|---|
oai_identifier_str |
oai:estudogeral.uc.pt:10316/27164 |
network_acronym_str |
RCAP |
network_name_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository_id_str |
7160 |
spelling |
Benchmark of swarm robotics distributed techniques in a search taskSwarm roboticsSearch tasksBenchmarkPerformance analysisThis paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional search cannot find a satisfactory solution. For instance, exhaustive multi-robot search techniques, such as sweeping the environment, allow for a better avoidance of local solutions but require too much time to find the optimal one. Moreover, such techniques tend to fail in finding targets within dynamic and unstructured environments. This paper presents experiments conducted to benchmark five state-of-the-art algorithms for cooperative exploration tasks. The simulated experimental results show the superiority of the previously presented Robotic Darwinian Particle Swarm Optimization (RDPSO), evidencing that sociobiological inspiration is useful to meet the challenges of robotic applications that can be described as optimization problems (e.g., search and rescue). Moreover, the RDPSO is further compared with the best performing algorithms within a population of 14 e-pucks. It is observed that the RDPSO algorithm converges to the optimal solution faster and more accurately than the other approaches without significantly increasing the computational demand, memory and communication complexity.Elsevier2014-02info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/27164http://hdl.handle.net/10316/27164https://doi.org/10.1016/j.robot.2013.10.004engCOUCEIRO, Micael S. [et al.] - Benchmark of swarm robotics distributed techniques in a search task. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 62 Nº. 2 (2014) p. 200-2130921-8890http://www.sciencedirect.com/science/article/pii/S092188901300208XCouceiro, Micael S.Vargas, Patricia A.Rocha, Rui P.Ferreira, Nuno M. F.info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2020-05-25T12:05:49Zoai:estudogeral.uc.pt:10316/27164Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:57:55.317551Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Benchmark of swarm robotics distributed techniques in a search task |
title |
Benchmark of swarm robotics distributed techniques in a search task |
spellingShingle |
Benchmark of swarm robotics distributed techniques in a search task Couceiro, Micael S. Swarm robotics Search tasks Benchmark Performance analysis |
title_short |
Benchmark of swarm robotics distributed techniques in a search task |
title_full |
Benchmark of swarm robotics distributed techniques in a search task |
title_fullStr |
Benchmark of swarm robotics distributed techniques in a search task |
title_full_unstemmed |
Benchmark of swarm robotics distributed techniques in a search task |
title_sort |
Benchmark of swarm robotics distributed techniques in a search task |
author |
Couceiro, Micael S. |
author_facet |
Couceiro, Micael S. Vargas, Patricia A. Rocha, Rui P. Ferreira, Nuno M. F. |
author_role |
author |
author2 |
Vargas, Patricia A. Rocha, Rui P. Ferreira, Nuno M. F. |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Couceiro, Micael S. Vargas, Patricia A. Rocha, Rui P. Ferreira, Nuno M. F. |
dc.subject.por.fl_str_mv |
Swarm robotics Search tasks Benchmark Performance analysis |
topic |
Swarm robotics Search tasks Benchmark Performance analysis |
description |
This paper presents a survey on multi-robot search inspired by swarm intelligence by further classifying and discussing the theoretical advantages and disadvantages of the existing studies. Subsequently, the most attractive techniques are evaluated and compared by highlighting their most relevant features. This is motivated by the gradual growth of swarm robotics solutions in situations where conventional search cannot find a satisfactory solution. For instance, exhaustive multi-robot search techniques, such as sweeping the environment, allow for a better avoidance of local solutions but require too much time to find the optimal one. Moreover, such techniques tend to fail in finding targets within dynamic and unstructured environments. This paper presents experiments conducted to benchmark five state-of-the-art algorithms for cooperative exploration tasks. The simulated experimental results show the superiority of the previously presented Robotic Darwinian Particle Swarm Optimization (RDPSO), evidencing that sociobiological inspiration is useful to meet the challenges of robotic applications that can be described as optimization problems (e.g., search and rescue). Moreover, the RDPSO is further compared with the best performing algorithms within a population of 14 e-pucks. It is observed that the RDPSO algorithm converges to the optimal solution faster and more accurately than the other approaches without significantly increasing the computational demand, memory and communication complexity. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-02 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10316/27164 http://hdl.handle.net/10316/27164 https://doi.org/10.1016/j.robot.2013.10.004 |
url |
http://hdl.handle.net/10316/27164 https://doi.org/10.1016/j.robot.2013.10.004 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
COUCEIRO, Micael S. [et al.] - Benchmark of swarm robotics distributed techniques in a search task. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 62 Nº. 2 (2014) p. 200-213 0921-8890 http://www.sciencedirect.com/science/article/pii/S092188901300208X |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Elsevier |
publisher.none.fl_str_mv |
Elsevier |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799133869327253504 |