Bio-Inspired Coalition Formation Algorithms for Multirobot Systems-Reference-Cited by-同舟云学术

Bio-Inspired Coalition Formation Algorithms for Multirobot Systems

Published:2018-04-26 Issue:2 Volume:18 Page:
ISSN:1530-9827
Container-title:Journal of Computing and Information Science in Engineering
language:en
Short-container-title:

Author:

Qian Binsen¹,Cheng Harry H.²

Affiliation:

1. Department of Mechanical and Aerospace Engineering, University of California at Davis, Davis, CA 95616 e-mail:

2. Professor Fellow ASME Integration Engineering Laboratory, Department of Mechanical and Aerospace Engineering, University of California at Davis, Davis, CA 95616 e-mail:

Abstract

This paper presents two bio-inspired algorithms for coalition formation of multiple modular robot systems. An effective and efficient coalition formation system can help modular robot system take full advantage of reconfigurability of modular robots. In this paper, the multirobot coalition formation problem is illustrated and a mathematical model for the problem is described. Two bio-inspired algorithms, ant-colony algorithm (ACA) and genetic algorithm (GA), are introduced for solving the mathematical model. With the two algorithms, it is able to form a large number of robots into many different groups for a variety of applications, such as parallel performance of multiple tasks by multiple teams of robots. The paper compares the efficiency and effectiveness of two algorithms for solving the presented problem with case study. The results for the comparison study are analyzed and discussed. Also, the implementation details of the simulation and experiment using ACA are presented in the paper.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Graphics and Computer-Aided Design,Computer Science Applications,Software

Link

http://asmedigitalcollection.asme.org/computingengineering/article-pdf/doi/10.1115/1.4039638/6102301/jcise_018_02_021010.pdf

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