Robot Swarm for Efficient Area Coverage Inspired by Ant Foraging: The Case of Adaptive Switching Between Brownian Motion and Lévy Flight

2017 ◽  
Author(s):  
Aditya Deshpande ◽  
Manish Kumar ◽  
Subramanian Ramakrishnan
Keyword(s):  
Brownian Motion ◽  
Performance Metrics ◽  
Research Area ◽  
Area Coverage ◽  
Lévy Flight ◽  
Levy Flight ◽  
Ant Foraging ◽  
Robot Swarm ◽  
Potential Applications ◽  
Active Research

Design of robot swarms inspired by self-organization in social insect groups is currently an active research area with a diverse portfolio of potential applications. In this work, the authors propose a control law for efficient area coverage by a robot swarm in a 2D spatial domain, inspired by the unique dynamical characteristics of ant foraging. The novel idea pursued in the effort is that dynamic, adaptive switching between Brownian motion and Lévy flight in the stochastic component of the search increases the efficiency of the search. Influence of different pheromone (the virtual chemotactic agent that drives the foraging) threshold values for switching between Lévy flights and Brownian motion is studied using two performance metrics — area coverage and visit entropy. The results highlight the advantages of the switching strategy for the control framework, particularly in cases when the object of the search is scarce in quantity or getting depleted in real-time.

scholarly journals A Swarm Robotic Exploration Strategy Based on an Improved Random Walk Method

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Bao Pang ◽  
Yong Song ◽  
Chengjin Zhang ◽  
Hongling Wang ◽  
Runtao Yang
Keyword(s):  
Brownian Motion ◽  
Random Walk ◽  
Swarm Robotics ◽  
Search Strategy ◽  
Lévy Flight ◽  
Step Size ◽  
Levy Flight ◽  
Random Walk Method ◽  
Robotic Exploration ◽  
Exploration Mission

An environment can be searched far more efficiently if the appropriate search strategy is used. Because of the limited individual abilities of swarm robots, namely, local sensing and low processing power, random searching is the main search strategy used in swarm robotics. The random walk methods that are used most commonly are Brownian motion and Lévy flight, both of which mimic the self-organized behavior of social insects. However, both methods are somewhat limited when applied to swarm robotics, where having the robots search repeatedly can result in highly inefficient searching. Therefore, by analyzing the characteristics of swarm robotic exploration, this paper proposes an improved random walk method in which each robot adjusts its step size adaptively to reduce the number of repeated searches by estimating the density of robots in the environment. Simulation experiments and experiments with actual robots are conducted to study the effectiveness of the proposed method and evaluate its performance in an exploration mission. The experimental results presented in this paper show that an area is covered more efficiently using the proposed method than it is using either Brownian motion or Lévy flight.

scholarly journals A random walk description of individual animal movement accounting for periods of rest

2016 ◽  
Vol 3 (11) ◽  
pp. 160566 ◽  
Author(s):  
Paulo F. C. Tilles ◽  
Sergei V. Petrovskii ◽  
Paulo L. Natti
Keyword(s):  
Brownian Motion ◽  
Animal Movement ◽  
Cauchy Distribution ◽  
Gaussian Kernel ◽  
Lévy Flight ◽  
Levy Flight ◽  
Theoretical Approaches ◽  
Actual Movement ◽  
Baseline Probability ◽  
Probability Density Function Pdf

Animals do not move all the time but alternate the period of actual movement (foraging) with periods of rest (e.g. eating or sleeping). Although the existence of rest times is widely acknowledged in the literature and has even become a focus of increased attention recently, the theoretical approaches to describe animal movement by calculating the dispersal kernel and/or the mean squared displacement (MSD) rarely take rests into account. In this study, we aim to bridge this gap. We consider a composite stochastic process where the periods of active dispersal or ‘bouts’ (described by a certain baseline probability density function (pdf) of animal dispersal) alternate with periods of immobility. For this process, we derive a general equation that determines the pdf of this composite movement. The equation is analysed in detail in two special but important cases such as the standard Brownian motion described by a Gaussian kernel and the Levy flight described by a Cauchy distribution. For the Brownian motion, we show that in the large-time asymptotics the effect of rests results in a rescaling of the diffusion coefficient. The movement occurs as a subdiffusive transition between the two diffusive asymptotics. Interestingly, the Levy flight case shows similar properties, which indicates a certain universality of our findings.

scholarly journals Cyclical game coupling with Levy flight and Brownian motion and stable coexistence conditions of species

2014 ◽  
Vol 63 (16) ◽  
pp. 168701
Author(s):  
Wang Dong ◽  
Tang Chang-Qing ◽  
Tian Bao-Guo ◽  
Qu Liang-Sheng ◽  
Zhang Jin-Chun ◽  
...  
Keyword(s):  
Brownian Motion ◽  
Lévy Flight ◽  
Levy Flight ◽  
Stable Coexistence ◽  
And Brownian Motion

On Modelling for Bias-Aware Sentiment Analysis and Its Impact in Twitter

2020 ◽  
Author(s):  
Ahsan Mahmood ◽  
Hikmat Ullah Khan ◽  
Muhammad Ramzan
Keyword(s):  
Sentiment Analysis ◽  
Research Study ◽  
Research Area ◽  
Twitter Data ◽  
The Social ◽  
The World ◽  
Potential Applications ◽  
Micro Level ◽  
Active Research ◽  
Active Research Area

Sentiment Analysis (SA) is an active research area for the last ten years. SA is the computational treatment of opinions, sentiments, and subjectivity of text. Twitter is one of the most widely used micro-blog and considered as an important source for computation of sentiment and of data analysis. Therefore, companies all over the world analyze Twitter data using SA and extract knowledge which has potential applications in diverse areas. Although SA is the successful way of finding the people’s opinion, the bias in the tweets affects the results of the SA and reflects inaccurate analysis that may mislead users to take erroneous decisions. The biased tweets are shared by valid, but biased human users as well as the social bots to propagate the biased opinions on certain topics. To counter this, this research study proposes a statistical model to identify such users and social bots who share the biased content in the form of tweets in the Twitter social media. For experiment purpose, we use annotated twitter dataset and argue the results of SA with and without the biased tweets and explored the effects of biased users at micro-level and macro level. The empirical results show that the proposed approach is effective and properly identifies the biased users and bots from other authentic users using sentiment analysis.

scholarly journals LÉVY FLIGHT SUPERDIFFUSION: AN INTRODUCTION

2008 ◽  
Vol 18 (09) ◽  
pp. 2649-2672 ◽  
Author(s):  
A. A. DUBKOV ◽  
B. SPAGNOLO ◽  
V. V. UCHAIKIN
Keyword(s):  
Brownian Motion ◽  
Characteristic Function ◽  
Lévy Process ◽  
Levy Process ◽  
Lévy Flight ◽  
Lévy Flights ◽  
Levy Flight ◽  
Barrier Crossing ◽  
Lévy Motion ◽  
Levy Flights

After a short excursion from the discovery of Brownian motion to the Richardson "law of four thirds" in turbulent diffusion, the article introduces the Lévy flight superdiffusion as a self-similar Lévy process. The condition of self-similarity converts the infinitely divisible characteristic function of the Lévy process into a stable characteristic function of the Lévy motion. The Lévy motion generalizes the Brownian motion on the base of the α-stable distributions theory and fractional order derivatives. Further development on this idea lies on the generalization of the Langevin equation with a non-Gaussian white noise source and the use of functional approach. This leads to the Kolmogorov's equation for arbitrary Markovian processes. As a particular case we obtain the fractional Fokker–Planck equation for Lévy flights. Some results concerning stationary probability distributions of Lévy motion in symmetric smooth monostable potentials, and a general expression to calculate the nonlinear relaxation time in barrier crossing problems are derived. Finally, we discuss the results on the same characteristics and barrier crossing problems with Lévy flights, recently obtained by different approaches.

scholarly journals Evaluation of Metaheuristic-Based Methods for Optimization of Truss Structures via Various Algorithms and Lèvy Flight Modification

Buildings ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 49
Author(s):  
Gebrail Bekdaş ◽  
Melda Yucel ◽  
Sinan Melih Nigdeli
Keyword(s):  
Large Scale ◽  
Optimization Method ◽  
Scale Space ◽  
Research Area ◽  
Truss Structures ◽  
Gray Wolf ◽  
Lévy Flight ◽  
Method Performance ◽  
Levy Flight ◽  
Material Usage

Truss structures are one of the major civil engineering members studied in the optimization research area. In this area, various optimization applications such as topology, size, cost, weight, material usage, etc., can be conducted for different truss structure types. In this scope with the present study, various optimization processes were carried out concerning two different large-scale space trusses to minimize the structural weight. According to this state, three structural models provided via two different truss structures, including 25 bar and 72 bar truss models, were handled for evaluation of six different metaheuristics together with the modification of Lèvy flight for three of the algorithms using swarm intelligence by considering both constant and variable populations, and different ranges for iterations, too. Additionally, the effects of the Lèvy flight function and whether it is successful or not in terms of the target of optimization were also investigated by comparing with some documented studies. In this regard, some statistical calculations were also realized to evaluate the optimization method performance and detection of optimum values for any data stably and successfully. According to the results, the Jaya algorithm can handle the optimization process successfully, including the case, without grouping truss members. The positive effect of Lèvy flight on swarm-based algorithms can be seen especially for the gray wolf algorithm.

scholarly journals Levy Flight and Chaos Theory Based Gravitational Search Algorithm for Global Optimization

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Performance Metrics ◽  
Chaotic Maps ◽  
Search Algorithm ◽  
Gravitational Search Algorithm ◽  
Lévy Flight ◽  
Step Size ◽  
Levy Flight ◽  
Statistical Measures ◽  
Engineering Design Problems ◽  
Gravitational Search

The Gravitational Search Algorithm (GSA) is one of the highly regarded population-based algorithms. It has been reported that GSA has a powerful global exploration capability but suffers from the limitations of getting stuck in local optima and slow convergence speed. In order to resolve the aforementioned issues, a modified version of GSA has been proposed based on levy flight distribution and chaotic maps (LCGSA). In LCGSA, the diversification is performed by utilizing the high step size value of levy flight distribution while exploitation is carried out by chaotic maps. The LCGSA is tested on well-known 23 classical benchmark functions. Moreover, it is also applied to three constrained engineering design problems. Furthermore, the analysis of results is performed through various performance metrics like statistical measures, convergence rate, and so on. Also, a signed Wilcoxon rank-sum test has also been conducted. The simulation results indicate that LCGSA provides better results as compared to standard GSA and most of the competing algorithms.

Beyond Brownian Motion: A levy flight in magic boots

Resonance ◽  
2004 ◽  
Vol 9 (1) ◽  
pp. 50-60 ◽  
Author(s):  
Nalini Chakravarti
Keyword(s):  
Brownian Motion ◽  
Lévy Flight ◽  
Levy Flight

scholarly journals Protein–TiO2: A Functional Hybrid Composite with Diversified Applications

Coatings ◽  
2020 ◽  
Vol 10 (12) ◽  
pp. 1194
Author(s):  
Luis Miguel Anaya-Esparza ◽  
Zuamí Villagrán-de la Mora ◽  
Noé Rodríguez-Barajas ◽  
Teresa Sandoval-Contreras ◽  
Karla Nuño ◽  
...  
Keyword(s):  
Wound Healing ◽  
Environmental Remediation ◽  
Hybrid Composites ◽  
Inorganic Compounds ◽  
Research Area ◽  
Human Motion ◽  
Food Preservation ◽  
Protective Effects ◽  
Potential Applications ◽  
Active Research

Functionalization of protein-based materials by incorporation of organic and inorganic compounds has emerged as an active research area due to their improved properties and diversified applications. The present review provides an overview of the functionalization of protein-based materials by incorporating TiO2 nanoparticles. Their effects on technological (mechanical, thermal, adsorptive, gas-barrier, and water-related) and functional (antimicrobial, photodegradation, ultraviolet (UV)-protective, wound-healing, and biocompatibility) properties are also discussed. In general, protein–TiO2 hybrid materials are biodegradable and exhibit improved tensile strength, elasticity, thermal stability, oxygen and water resistance in a TiO2 concentration-dependent response. Nonetheless, they showed enhanced antimicrobial and UV-protective effects with good biocompatibility on different cell lines. The main applications of protein–TiO2 are focused on the development of eco-friendly and active packaging materials, biomedical (tissue engineering, bone regeneration, biosensors, implantable human motion devices, and wound-healing membranes), food preservation (meat, fruits, and fish oil), pharmaceutical (empty capsule shell), environmental remediation (removal and degradation of diverse water pollutants), anti-corrosion, and textiles. According to the evidence, protein–TiO2 hybrid composites exhibited potential applications; however, standardized protocols for their preparation are needed for industrial-scale implementation.

Human Motion Analysis

2011 ◽  
pp. 326-397
Author(s):  
Daijin Kim ◽  
Jaewon Sung
Keyword(s):  
Motion Analysis ◽  
Research Area ◽  
Human Motion ◽  
Human Detection ◽  
Human Motion Analysis ◽  
Research Areas ◽  
Perceptual Control ◽  
Potential Applications ◽  
Ill Posed ◽  
Active Research

Human motion analysis (Moeslund et. al., 2006; Wang et. al., 2003) is currently one of the most active research areas in computer vision due both to the number of potential applications and its inherent complexity. This high interest is driven by many applications in many areas such as surveillance, virtual reality, perceptual, control applications or analysis of human behaviors. However, the research area contains a number of difficult, such as ill-posed problem. So, many researchers have investigated these problems. Human motion analysis is generally composed of three major parts: human detection, tracking and the behavior understandings.

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