Comparison of heuristic algorithms in discrete search and surveillance tasks using aerial swarms

Garcia Auñon, Pablo and Barrientos Cruz, Antonio (2018). Comparison of heuristic algorithms in discrete search and surveillance tasks using aerial swarms. "Applied Sciences", v. 8 (n. 5); pp. 1-31. ISSN 2076-3417. https://doi.org/10.3390/app8050711.

Description

Title: Comparison of heuristic algorithms in discrete search and surveillance tasks using aerial swarms
Author/s:
  • Garcia Auñon, Pablo
  • Barrientos Cruz, Antonio
Item Type: Article
Título de Revista/Publicación: Applied Sciences
Date: 2018
ISSN: 2076-3417
Volume: 8
Subjects:
Freetext Keywords: swarm robotics; search; surveillance; behaviors; patterns; comparison
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The search of a given area is one of the most studied tasks in swarm robotics. Different heuristic methods have been studied in the past taking into account the peculiarities of these systems (number of robots, limited communications and sensing and computational capacities). In this work, we introduce a behavioral network made up of different well-known behaviors that act together to achieve a good performance, while adapting to different scenarios. The algorithm is compared with six strategies based on movement patterns in terms of three performance models. For the comparison, four scenario types are considered: plain, with obstacles, with the target location probability distribution and a combination of obstacles and the target location probability distribution. For each scenario type, different variations are considered, such as the number of agents and area size. Results show that although simplistic solutions may be convenient for the simplest scenario type, for the more complex ones, the proposed algorithm achieves better results.

Funding Projects

TypeCodeAcronymLeaderTitle
Madrid Regional GovernmentS2013/MIT-2748RoboCity2030-III-CMUnspecifiedRobótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III
Government of SpainDPI2014-56985-RPRICUnspecifiedProtección Robotizada de Infraestructuras Críticas

More information

Item ID: 63984
DC Identifier: https://oa.upm.es/63984/
OAI Identifier: oai:oa.upm.es:63984
DOI: 10.3390/app8050711
Official URL: https://www.mdpi.com/2076-3417/8/5/711
Deposited by: Memoria Investigacion
Deposited on: 26 Aug 2022 07:56
Last Modified: 30 Nov 2022 09:00
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