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Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots

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Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We present an adaptive strategy for a group of robots engaged in the localization of multiple targets. The robotic search algorithm is inspired by chemotaxis behavior in bacteria, and the algorithmic parameters are updated using a distributed implementatio ...

2008

An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers online in an automated fashion. In mult ...

Springer2008

Synthesis, modeling, and experimental validation of distributed robotic search

James Pugh

The work of this thesis centers around the research subject of distributed robotic search. Within the field of distributed robotic systems, a task of particular interest is attempting to locate one or more targets in a possibly unknown environment. While n ...

EPFL2008

Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Within the field of multi-robot systems, multi-robot search is one area which is currently receiving a lot of research attention. One major challenge within this area is to design effective algorithms that allow a team of robots to work together to find th ...

2007

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

2007

Optimal solution stability in dynamic, distributed constraint optimization

Boi Faltings, Adrian Petcu

We define the distributed continuous-time combinatorial optimization problem. We propose a new notion of solution stability in aynamic optimization, based on the cost Of change from an already-implemented solution to the new one. Change costs are modeled w ...

Ieee Computer Soc Press, Customer Service Center, Po Box 3014, 10662 Los Vaqueros Circle, Los Alamitos, Ca 90720-1264 Usa2007

Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Alcherio Martinoli, James Pugh, Loïc Segapelli

We present a modified version of the Particle swarm Optimization algorithm in which we adjust the virtual swarm search by incorporating inter-agent dynamics native to multi-robot search scenarios. The neighborhood structure of PSO is modified to accurately ...

2006

Multi-Robot Learning with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...

2006

Discrete Multi-Valued Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Discrete optimization is a difficult task common to many different areas in modern research. This type of optimization refers to problems where solution elements can assume one of several discrete values. The most basic form of discrete optimization is bin ...

2006

Particle swarm optimization for unsupervised robotic learning

Alcherio Martinoli, James Pugh

We explore using particle swarm optimization on problems with noisy performance evaluation, focusing on unsupervised robotic learning. We adapt a technique of overcoming noise used in genetic algorithms for use with particle swarm optimization, and evaluat ...

2005