Detection of multiple source locations using a glowworm metaphor with applications to collective robotics

Krishnanand, KN and Ghose, D (2005) Detection of multiple source locations using a glowworm metaphor with applications to collective robotics. In: IEEE Swarm Intelligence Symposium, JUN 08-10, 2005, Pasadena.

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Abstract

This paper presents a glowworm swarm based algorithm that finds solutions to optimization of multiple optima continuous functions. The algorithm is a variant of a well known ant-colony optimization (ACO) technique, but with several significant modifications. Similar to how each moving region in the ACO technique is associated with a pheromone value, the agents in our algorithm carry a luminescence quantity along with them. Agents are thought of as glowworms that emit a light whose intensity is proportional to the associated luminescence and have a circular sensor range. The glowworms depend on a local-decision domain to compute their movements. Simulations demonstrate the efficacy of the proposed glowworm based algorithm in capturing multiple optima of a multimodal function. The above optimization scenario solves problems where a collection of autonomous robots is used to form a mobile sensor network. In particular, we address the problem of detecting multiple sources of a general nutrient profile that is distributed spatially on a two dimensional workspace using multiple robots.

Item Type:	Conference Paper
Publisher:	IEEE
Additional Information:	Copyright 2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	03 Jun 2010 08:58
Last Modified:	19 Sep 2010 06:06
URI:	http://eprints.iisc.ac.in/id/eprint/27755

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