scholarly journals Control of a Robotic Swarm Formation to Track a Dynamic Target with Communication Constraints: Analysis and Simulation

2021 ◽  
Vol 11 (7) ◽  
pp. 3179
Author(s):  
Charles Coquet ◽  
Andreas Arnold ◽  
Pierre-Jean Bouvet
Keyword(s):  
Particle Swarm Optimization ◽  
Initial Conditions ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Communication Constraints ◽  
Swarm Optimization ◽  
Simplifying Assumptions ◽  
Robotic Swarm ◽  
And Control

We describe and analyze the Local Charged Particle Swarm Optimization (LCPSO) algorithm, that we designed to solve the problem of tracking a moving target releasing scalar information in a constrained environment using a swarm of agents. This method is inspired by flocking algorithms and the Particle Swarm Optimization (PSO) algorithm for function optimization. Four parameters drive LCPSO—the number of agents; the inertia weight; the attraction/repulsion weight; and the inter-agent distance. Using APF (Artificial Potential Field), we provide a mathematical analysis of the LCPSO algorithm under some simplifying assumptions. First, the swarm will aggregate and attain a stable formation, whatever the initial conditions. Second, the swarm moves thanks to an attractor in the swarm, which serves as a guide for the other agents to head for the target. By focusing on a simple application of target tracking with communication constraints, we then remove those assumptions one by one. We show the algorithm is resilient to constraints on the communication range and the behavior of the target. Results on simulation confirm our theoretical analysis. This provides useful guidelines to understand and control the LCPSO algorithm as a function of swarm characteristics as well as the nature of the target.

scholarly journals Control of a Robotic Swarm Formation to Track a Dynamic Target With Communication Constraints: Analysis and Simulation

2021 ◽  
Author(s):  
Charles Coquet ◽  
Andreas Arnold ◽  
Pierre-Jean Bouvet
Keyword(s):  
Initial Conditions ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Communication Constraints ◽  
Inertia Weight ◽  
Simplifying Assumptions ◽  
Robotic Swarm ◽  
Dynamic Target ◽  
And Control ◽  
Stable Formation

We describe and analyze the Local Charged Particle Swarm Optimization (LCPSO) algorithm, that we designed to solve the problem of tracking a moving target releasing scalar information in a constrained environment using a swarm of agents. This method is inspired by flocking algorithms and the PSO algorithm for function optimization. Four parameters drive LCPSO: the number of agents; the inertia weight; the attraction/repulsion weight; and the inter-agent distance. Using APF, we provide a mathematical analysis of the LCPSO algorithm under some simplifying assumptions. First, the swarm will aggregate and attain a stable formation, whatever the initial conditions. Second, the swarm moves thanks to an attractor in the swarm, which serves as a guide for the other agents to head for the target. By focusing on a simple application of target tracking with communication constraints, we then remove those assumptions one by one. We show the algorithm is resilient to constraints on the communication range, and the behavior of the target. Results on simulation confirm our theoretical analysis. This provides useful guidelines to understand and control the LCPSO algorithm as a function of swarm characteristics as well as the nature of the target.

Convergence Analysis of Particle Swarm Optimization via Illustration Styles

2021 ◽  
pp. 29-37
Author(s):  
Wei-Der Chang ◽  
Keyword(s):  
Particle Swarm Optimization ◽  
Convergence Analysis ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Evolutionary Computations ◽  
Swarm Optimization ◽  
Simulation Results ◽  
Population Based Algorithm

Particle swarm optimization (PSO) is the most important and popular algorithm to solving the engineering optimization problem due to its simple updating formulas and excellent searching capacity. This algorithm is one of evolutionary computations and is also a population-based algorithm. Traditionally, to demonstrate the convergence analysis of the PSO algorithm or its related variations, simulation results in a numerical presentation are often given. This way may be unclear or unsuitable for some particular cases. Hence, this paper will adopt the illustration styles instead of numeric simulation results to more clearly clarify the convergence behavior of the algorithm. In addition, it is well known that three parameters used in the algorithm, i.e., the inertia weight w, position constants c1 and c2, sufficiently dominate the whole searching performance. The influence of these parameter settings on the algorithm convergence will be considered and examined via a simple two-dimensional function optimization problem. All simulation results are displayed using a series of illustrations with respect to various iteration numbers. Finally, some simple rules on how to suitably assign these parameters are also suggested

Numerical function optimization by conditionalized PSO algorithm

2020 ◽  
Vol 39 (3) ◽  
pp. 3275-3295
Author(s):  
Yin Tianhe ◽  
Mohammad Reza Mahmoudi ◽  
Sultan Noman Qasem ◽  
Bui Anh Tuan ◽  
Kim-Hung Pho
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Numerical Function ◽  
Problem Space ◽  
Swarm Optimization ◽  
Speed Up ◽  
Suboptimal Solution

A lot of research has been directed to the new optimizers that can find a suboptimal solution for any optimization problem named as heuristic black-box optimizers. They can find the suboptimal solutions of an optimization problem much faster than the mathematical programming methods (if they find them at all). Particle swarm optimization (PSO) is an example of this type. In this paper, a new modified PSO has been proposed. The proposed PSO incorporates conditional learning behavior among birds into the PSO algorithm. Indeed, the particles, little by little, learn how they should behave in some similar conditions. The proposed method is named Conditionalized Particle Swarm Optimization (CoPSO). The problem space is first divided into a set of subspaces in CoPSO. In CoPSO, any particle inside a subspace will be inclined towards its best experienced location if the particles in its subspace have low diversity; otherwise, it will be inclined towards the global best location. The particles also learn to speed-up in the non-valuable subspaces and to speed-down in the valuable subspaces. The performance of CoPSO has been compared with the state-of-the-art methods on a set of standard benchmark functions.

scholarly journals Locally tuned hybridized particle swarm optimization for the calibration of the nonlinear Muskingum flood routing model

2020 ◽  
Vol 11 (S1) ◽  
pp. 343-358 ◽  
Author(s):  
Umut Okkan ◽  
Umut Kirdemir
Keyword(s):  
Particle Swarm Optimization ◽  
Initial Conditions ◽  
Particle Swarm ◽  
Solution Space ◽  
Global Solutions ◽  
Pso Algorithm ◽  
Flood Routing ◽  
Swarm Optimization ◽  
Model Benchmark ◽  
Lm Algorithm

Abstract In the literature about the parameter estimation of the nonlinear Muskingum (NL-MUSK) model, benchmark hydrographs have been subjected to various metaheuristics, and in these studies the minor improvements of the algorithms on objective functions are imposed as ‘state-of-the-art’. With the metaheuristics involving more control variables, the attempt to search global results in a restricted solution space is not actually practical. Although metaheuristics provide reasonable results compared with many derivative methods, they cannot guarantee the same global solution when they run under different initial conditions. In this study, one of the most practical of metaheuristics, the particle swarm optimization (PSO) algorithm, was chosen, and the aim was to develop its local search capability. In this context, the hybrid use of the PSO with the Levenberg–Marquardt (LM) algorithm was considered. It was detected that the hybrid PSO–LM gave stable global solutions as a result of each random experiment in the application for four different flood data. The PSO–LM, which stands out with its stable aspect, also achieved rapid convergence compared with the PSO and another hybrid variant called mutated PSO.

An Improved Particle Swarm Optimization Algorithm

2013 ◽  
Vol 850-851 ◽  
pp. 809-812
Author(s):  
Hong Mei Ni ◽  
Wei Gang Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Particle Swarm Optimization Algorithm ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Swarm Optimization ◽  
Swarm Behavior ◽  
Peak Function ◽  
Improved Pso

Niche is an important technique for multi-peak function optimization. When the particle swarm optimization (PSO) algorithm is used in multi-peak function optimization, there exist some problems, such as easily falling into prematurely, having slow convergence rate and so on. To solve above problems, an improved PSO algorithm based on niche technique is brought forward. PSO algorithm utilizes properties of swarm behavior to solve optimization problems rapidly. Niche techniques have the ability to locate multiple solutions in multimodal domains. The improved PSO algorithm not only has the efficient parallelism but also increases the diversity of population because of the niche technique. The simulation result shows that the new algorithm is prior to traditional PSO algorithm, having stronger adaptability and convergence, solving better the question on multi-peak function optimization.

scholarly journals Virtual Angle Boundary-Aware Particle Swarm Optimization to Maximize the Coverage of Directional Sensor Networks

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2868
Author(s):  
Gong Cheng ◽  
Huangfu Wei
Keyword(s):  
Particle Swarm Optimization ◽  
Sensor Networks ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
The Internet ◽  
Directional Sensor Networks ◽  
Swarm Optimization ◽  
Coverage Optimization ◽  
Boundary Constraint ◽  
Directional Sensor

With the transition of the mobile communication networks, the network goal of the Internet of everything further promotes the development of the Internet of Things (IoT) and Wireless Sensor Networks (WSNs). Since the directional sensor has the performance advantage of long-term regional monitoring, how to realize coverage optimization of Directional Sensor Networks (DSNs) becomes more important. The coverage optimization of DSNs is usually solved for one of the variables such as sensor azimuth, sensing radius, and time schedule. To reduce the computational complexity, we propose an optimization coverage scheme with a boundary constraint of eliminating redundancy for DSNs. Combined with Particle Swarm Optimization (PSO) algorithm, a Virtual Angle Boundary-aware Particle Swarm Optimization (VAB-PSO) is designed to reduce the computational burden of optimization problems effectively. The VAB-PSO algorithm generates the boundary constraint position between the sensors according to the relationship among the angles of different sensors, thus obtaining the boundary of particle search and restricting the search space of the algorithm. Meanwhile, different particles search in complementary space to improve the overall efficiency. Experimental results show that the proposed algorithm with a boundary constraint can effectively improve the coverage and convergence speed of the algorithm.

Adaptive particle swarm optimization algorithm based long short-term memory networks for sentiment analysis

2021 ◽  
pp. 1-17
Author(s):  
J. Shobana ◽  
M. Murali
Keyword(s):  
Particle Swarm Optimization ◽  
Sentiment Analysis ◽  
Language Processing ◽  
Short Term Memory ◽  
Contextual Information ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Adaptive Particle Swarm Optimization ◽  
Proposed Model

Text Sentiment analysis is the process of predicting whether a segment of text has opinionated or objective content and analyzing the polarity of the text’s sentiment. Understanding the needs and behavior of the target customer plays a vital role in the success of the business so the sentiment analysis process would help the marketer to improve the quality of the product as well as a shopper to buy the correct product. Due to its automatic learning capability, deep learning is the current research interest in Natural language processing. Skip-gram architecture is used in the proposed model for better extraction of the semantic relationships as well as contextual information of words. However, the main contribution of this work is Adaptive Particle Swarm Optimization (APSO) algorithm based LSTM for sentiment analysis. LSTM is used in the proposed model for understanding complex patterns in textual data. To improve the performance of the LSTM, weight parameters are enhanced by presenting the Adaptive PSO algorithm. Opposition based learning (OBL) method combined with PSO algorithm becomes the Adaptive Particle Swarm Optimization (APSO) classifier which assists LSTM in selecting optimal weight for the environment in less number of iterations. So APSO - LSTM ‘s ability in adjusting the attributes such as optimal weights and learning rates combined with the good hyper parameter choices leads to improved accuracy and reduces losses. Extensive experiments were conducted on four datasets proved that our proposed APSO-LSTM model secured higher accuracy over the classical methods such as traditional LSTM, ANN, and SVM. According to simulation results, the proposed model is outperforming other existing models.

scholarly journals Particle swarm optimization algorithm for the optimization of rescue task allocation with uncertain time constraints

2021 ◽  
Author(s):  
Na Geng ◽  
Zhiting Chen ◽  
Quang A. Nguyen ◽  
Dunwei Gong
Keyword(s):  
Particle Swarm Optimization ◽  
Task Allocation ◽  
Optimal Algorithm ◽  
Particle Swarm ◽  
Evolutionary Process ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Fitness Evaluation ◽  
Modified Particle Swarm Optimization ◽  
Uncertain Time

AbstractThis paper focuses on the problem of robot rescue task allocation, in which multiple robots and a global optimal algorithm are employed to plan the rescue task allocation. Accordingly, a modified particle swarm optimization (PSO) algorithm, referred to as task allocation PSO (TAPSO), is proposed. Candidate assignment solutions are represented as particles and evolved using an evolutionary process. The proposed TAPSO method is characterized by a flexible assignment decoding scheme to avoid the generation of unfeasible assignments. The maximum number of successful tasks (survivors) is considered as the fitness evaluation criterion under a scenario where the survivors’ survival time is uncertain. To improve the solution, a global best solution update strategy, which updates the global best solution depends on different phases so as to balance the exploration and exploitation, is proposed. TAPSO is tested on different scenarios and compared with other counterpart algorithms to verify its efficiency.

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