The multi-target search problem with environmental restrictions in swarm robotics

2014 ◽  
Author(s):  
Jie Li ◽  
Ying Tan
Keyword(s):  
Swarm Robotics ◽  
Search Problem ◽  
Target Search

scholarly journals Systematic Literature Review of Swarm Robotics Strategies Applied to Target Search Problem with Environment Constraints

2021 ◽  
Vol 11 (5) ◽  
pp. 2383
Author(s):  
Zool Hilmi Ismail ◽  
Mohd Ghazali Mohd Hamami
Keyword(s):  
Literature Review ◽  
Systematic Literature Review ◽  
Swarm Robotics ◽  
Empty Space ◽  
Difficult Problem ◽  
Search Problem ◽  
Target Search ◽  
Swarm Robots ◽  
Collaboration And Communication ◽  
Target Searching

Target searching is a well-known but difficult problem in many research domains, including computational intelligence, swarm intelligence, and robotics. The main goal is to search for the targets within the specific boundary with the minimum time that is required and the obstacle avoidance that has been equipped in place. Swarm robotics (SR) is an extension of the multi-robot system that particularly discovers a concept of coordination, collaboration, and communication among a large number of robots. Because the robots are collaborating and working together, the task that is given will be completed faster compared to using a single robot. Thus, searching for single or multiple targets with swarm robots is a significant and realistic approach. Robustness, flexibility, and scalability, which are supported by distributed sensing, also make the swarm robots strategy suitable for target searching problems in real-world applications. The purpose of this article is to deliver a systematic literature review of SR strategies that are applied to target search problems, so as to show which are being explored in the fields as well as the performance of current state-of-the-art SR approaches. This review extracts data from four scientific databases and filters with two established high-indexed databases (Scopus and Web of Science). Notably, 25 selected articles fell under two main categories in environment complexity, namely empty space and cluttered. There are four strategies which have been compiled for both empty space and cluttered categories, namely, bio-inspired mechanism, behavior-based mechanism, random strategy mechanism, and hybrid mechanism.

scholarly journals Toward target search approach of swarm robotics in limited communication environment based on robot chains with elimination mechanism

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091995
Author(s):  
Yandong Luo ◽  
Jianwen Guo ◽  
Guoliang Ye ◽  
Yan Wang ◽  
Li Xie ◽  
...  
Keyword(s):  
Swarm Robotics ◽  
Search Task ◽  
Search Problem ◽  
Chain Model ◽  
Target Search ◽  
Limited Communication ◽  
Communication Environments ◽  
Search Speed ◽  
Elimination Mechanism ◽  
Search Approach

Swarm robotics refers to artificial swarm systems composed of a large number of autonomous mobile robots with relatively simple structures and functions. One of the basic problems of swarm robotics involves the target search process, which entails a cooperative search using limited perception and local interaction of robots under a self-organizing mechanism. When communication is limited, the connectivity of swarm robotics may decrease, leading to the failure of the target search task. This article describes a new target search method based on the robot chain model and the elimination mechanism. The proposed method allows the target search task to be completed efficiently and reliably while maintaining the connectivity of the robots. Experimental results show that the proposed algorithm offers better performance than conventional techniques in terms of search speed and success rate, and provides an effective method for solving the target search problem using swarm robotics in limited-communication environments.

scholarly journals Directional-Sensor Network Deployment Planning for Mobile-Target Search

Robotics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 82
Author(s):  
Shiraz Wasim ◽  
Zendai Kashino ◽  
Goldie Nejat ◽  
Beno Benhabib
Keyword(s):  
Sensor Network ◽  
Search Algorithm ◽  
Search Problem ◽  
Target Search ◽  
Physical Constraints ◽  
Sensing Model ◽  
Mobile Target ◽  
Deployment Planning ◽  
Directional Sensor Network ◽  
Directional Sensor

In this paper, a novel time-phased directional-sensor network deployment strategy is presented for the mobile-target search problem, e.g., wilderness search and rescue (WiSAR). The proposed strategy uses probabilistic target-motion models combined with a variation of a standard direct search algorithm to plan the optimal locations of directional-sensors which maximize the likelihood of target detection. A linear sensing model is employed as a simplification for directional-sensor network deployment planning, while considering physical constraints, such as on-time sensor deliverability. Extensive statistical simulations validated our method. One such illustrative experiment is included herein to demonstrate the method’s operation. A comparative study was also carried out, whose summary is included in this paper, to highlight the tangible improvement of our approach versus three traditional deployment strategies: a uniform, a random, and a ring-of-fire type deployment, respectively.

A Swarm Robotics Approach to Decontamination

2013 ◽  
pp. 107-122
Author(s):  
Daniel S. F. Alves ◽  
E. Elael M. Soares ◽  
Guilherme C. Strachan ◽  
Guilherme P. S. Carvalho ◽  
Marco F. S. Xaud ◽  
...  
Keyword(s):  
Swarm Robotics ◽  
Target Space ◽  
Graph Search ◽  
Search Problem ◽  
Ground Floor ◽  
Chemical Decontamination ◽  
Minimum Number

Many interesting and difficult practical problems need to be tackled in the areas of firefighting, biological and/or chemical decontamination, tactical and/or rescue searches, and Web spamming, among others. These problems, however, can be mapped onto the graph decontamination problem, also called the graph search problem. Once the target space is mapped onto a graph G(N,E), where N is the set of G nodes and E the set of G edges, one initially considers all nodes in N to be contaminated. When a guard, i.e., a decontaminating agent, is placed in a node i ??N, i becomes (clean and) guarded. In case such a guard leaves node i, it can only be guaranteed that i will remain clean if all its neighboring nodes are either clean or clean and guarded. The graph decontamination/search problem consists of determining a sequence of guard movements, requiring the minimum number of guards needed for the decontamination of G. This chapter presents a novel swarm robotics approach to firefighting, a conflagration in a hypothetical apartment ground floor. The mechanism has been successfully simulated on the Webots platform, depicting a firefighting swarm of e-puck robots.

Mobile Multi-Robot Control in Target Search and Retrieval

2008 ◽  
Author(s):  
Guoxian Zhang ◽  
Devendra P. Garg
Keyword(s):  
Task Performance ◽  
Robot Control ◽  
Swarm Robotics ◽  
Retrieval System ◽  
Robot System ◽  
Target Search ◽  
Transition Mechanism ◽  
Environment Exploration ◽  
Search And Retrieval ◽  
Multi Robot

In this paper, the design of a controller is proposed for a multi-robot target search and retrieval system. Inspired by research in insect foraging and swarm robotics, we developed a transition mechanism for the multi-robot system. Environmental information and task performance obtained by the robot system are used to adjust individual robot’s parameters and guide environment exploration. The proposed control system is applicable in the solution of multi-target problem also where several robots may be needed to cooperate together to retrieve a large target. Simulations show that the task performance improves significantly with the proposed method by sharing information in parameter learning and environment exploration.

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