Professional Documents
Culture Documents
Adham Atyabi
Supervisor: Dr. Somnuk Phon-Amnuaisuk
Co-supervisor: Dr. Chin Kuan Ho
Order of the slides
1. Particle Swarm Optimization (Basic PSO)
4. Experimental Results
Problem Statement
The problem is Hostile robotic scenario based on
cooperative robots trying to navigate bombs
location and disarm them.
1)
1) EEva
valuat
luation,
ion, whe
where
re quanti
quantita
tative
tive fitne
fitness
ss ca
cann be
be de
dete
termine
rminedd forfor some
some pa partrticl
iclee loc
locat
ation;
ion;
2)
2) Comparison,
Comparison, where
where the
the best
best performe
performerr outout of
of multi
multipl plee partic
particle
less ca
cann be
be selselec
ecteted;
d;
3)
3) Imit
Imitat
ation,
ion, where
where the
the qua
qualit
litie
iess of
of bet
better
ter parti
particl
cles
es aare
re mi
mimic
mickekedd by
by othe
others.rs.
Velocity: (1)
(Brits, Engelbrecht, and Van Den Bergh, 2002,2003; Yoshida, et al.,2001; Stacey, Jancic and
Grundy,2003;Chang, et al., 2005; Vestestrom, Riget, 2002; Qin et al., 2004; Pasupuleti and
Battiti, 2006; Ratnaweera et al., 2004;Peram et al., 2003; Parsopoulos and Vrahatis, 2002)
Various Modeling of PSO
Literature suggested two models for implementing robot controller
in robotic swarm. These models are known as i) Macroscopic and
ii) Microscopic models.
(5)
Environment Reduction Heuristic
The idea is based on dividing the environment to sub
virtual fixed areas with various credits.
Areas credit defined the proportion of survivors and
obstacles positioned in the area.
particles know the credit of first and second layer of its
current neighborhood.
2 Deserting Policies are used (DP1, DP2)
Communication Methodology and Help Request
Signal Heuristics
Random noise
(distributed uniform )
Illusion Effect
Cooperative AEPSO (CAEPSO)
• Robots were able to solve problems with high level of complexities based on
using poor level of knowledge (training knowledge) and high level of
cooperation and experience sharing.