Consensus-Based Obstacle Avoidance for Robotic Swarm System with Behavior-Based Control Scheme

Ji-Wook Kwon,Jin Hyo Kim,Jiwon Seo 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

This paper proposes the consensus algorithm for obstacle avoidance behavior of a robotic swarm system such that the orientations of all the robots are converged to consented value of them. In the previous robotic swarm algorithms based on a behavior based control has contended with obtaining the routes of the robots when accomplishing objectives such as aggregation, dispersion, or homing. In this paper, the robots move with smooth path by the proposed consensus algorithm. This advantage can lead to reduce the moving distance and the moving cost. Finally, simulation results are included to demonstrate the performance of the proposed algorithm for the robotic swarm system based on the behavior-based control with consensus algorithm for obstacle avoidance.

무리지능 기반 파라메트릭 파사드 패턴 디자인 방법 및 그래스호퍼 알고리즘 개발

오영은(Oh, Young-Eun),이현수(Lee, Hyunsoo) 한국실내디자인학회 2021 한국실내디자인학회논문집 Vol.30 No.3

In a trend of urbanization, population lives in cities. These citizens want to live in a good urban life. For their good lives, urban environment as their living areas is filled with buildings. so facade pattern designs as one of visual elements of architectural facade have been considered and demanded in an artistic perspective of architecture. In designing architectural facade, designers and architects need to have an inspiration or its various and creative idea provided in a short time in their schematic design phase. Therefore, this research aims to develop design methods and their Grasshopper algorithms for parametric facade pattern design based on Swarm Intelligence, which is used in the field of Biomimicry, which is one of elements and attributes of Biophilic Design and a field of making it possible for efficient and artistic results to be produced by structural orders and principles from nature. The detailed objectives of this research are first, theoretical review for facade parametric pattern design, and Biomimicry and Swarm Intelligence, second, building a logical structure to produce data corresponding to each flocking behavior’s rule, and third, developing design methods and Grasshopper algorithms for Swarm Intelligence-based parametric facade patterns, representing parametric facade pattern designs, and comparing and analyzing with previous research’s algorithm. The study is focused on only introduction of Swarm Intelligence-based parametric facade pattern design’s methods and Grasshopper algorithms, display of pattern design examples, which are previous steps of applied to architectural facades. This research means to define a basic Grasshopper algorithm based on Swarm Intelligence in order to develop detailed design methods of parametric facade pattern designs and help designers and architects to get inspired from and various and creative idea in a short time in earlier design stage. The research is expected to be able to play an expanded system for developing parametric facade pattern design in the field of not only architectural facade but also interior space design.

Swarm Group Mobility Model for Ad Hoc Wireless Networks

Dongsoo Kim,Seok K. Hwang 대한전자공학회 2007 JUCT : Journal of Ubiquitous Convergence Technolog Vol.1 No.1

This paper proposes a new group mobility model for wireless communication. The mobility model considers the psychological and sociological behavior of each node and the perception of other nodes for describing interactions among a set of nodes. The model assumes no permanent membership of a group, capable of capturing natural behaviors as fork and join. It emulates a cooperative movement pattern observed in mobile ad hoc networks of military operation and campus, in which a set of mobile stations accomplish a cooperative motion affected by the individual behavior as well as a group behavior. The model also employs a physic model to avoid a sudden stopping and a sharping turning.

Swarm Group Mobility Model for Ad Hoc Wireless Networks

Kim, Dong-Soo S.,Hwang, Seok-K. The Institute of Electronics and Information Engin 2007 JUCT : Journal of Ubiquitous Convergence Technolog Vol.1 No.1

This paper proposes a new group mobility model for wireless communication. The mobility model considers the psychological and sociological behavior of each node and the perception of other nodes for describing interactions among a set of nodes. The model assumes no permanent membership of a group, capable of capturing natural behaviors as fork and join. It emulates a cooperative movement pattern observed in mobile ad hoc networks of military operation and campus, in which a set of mobile stations accomplish a cooperative motion affected by the individual behavior as well as a group behavior. The model also employs a physic model to avoid a sudden stopping and a sharping turning.

스웜 시스템의 그룹 행동을 위한 조직화된 단일 연합법

정하민(Hahmin Jung),김동헌(Dong Hun Kim) 한국지능시스템학회 2009 한국지능시스템학회논문지 Vol.19 No.3

본 논문은 다수의 에이전트가 있는 스웜 시스템에서 효과적인 그룹행동을 다루는 연구를 한 내용이다. 많은 에이전트들이 그룹 행동을 할 때 효율적인 연합 행동을 할 수 있도록 인공 포텐셜 함수(Artificial Potential Function, 이하 APF)를 사용하였다. 제안된 연구에서는 균일한 에이전트간의 포메이션 형성, 신속한 목표물 이동, 그리고 에이전트간의 충돌 회피를 만족시키는 동적 연합(Dynamic Association, 이하 DA)알고리즘을 소개한다. 동적 연합을 바탕으로 조직화된 단일 연합법 (Systematic Singular Association, 이하 SSA)을 제안하였다. 제안된 계획에서는 장애물과 목표물 사이에도 직선시야(Line Of Signt, 이하 LOS)를 고려했다. 제안된 SSA 규칙과의 비교를 위해, 에이전트 간의 LOS만 고려하는 근거리 에이전트 선택 단일연합(Singular Association, 이하 SA)과 다(多) 연결 에이전트 선택 SA 알고리즘을 사용하였다. 비교의 결과로 제안된 방법에서 두개의 중요한 장점을 확인했다. 첫째, SSA규칙은 동료 에이전트를 잃을 가능성이 상당히 낮고 빠른 에이전트들의 빠른 이동을 만족시킨다. 둘째, 장애물과 목표물 사이의 LOS고려로 인해서 SSA규칙의 간소화는 특히 그룹 이동 시 유리하다. 제안된 알고리즘의 효율성을 자세히 보여주기 위하여 다른 알고리즘과의 비교 시뮬레이션을 제공한다. In this paper, we present a framework for managing group behaviors in multi-agent swarm systems. The framework explores the benefits by dynamic associations with the proposed artificial potential functions to realize complex swarming behaviors. A key development is the introduction of a set of flocking by dynamic association (DA) algorithms that effectively deal with a host of swarming issues such as cooperation for fast migration to a target, flexible and agile formation, and inter-agent collision avoidance. In particular, the DA algorithms employ a so-called systematic singular association (SSA) rule for fast migration to a target and compact formation through inter-agent interaction. The resulting algorithms enjoy two important interrelated benefits. First, the SSA rule greatly reduces time-consuming for migration and satisfies low possibility that agents may be lost. Secondly, the SSA is advantageous for practical implementations, since it considers for agents even the case that a target is blocked by obstacles. Extensive simulation presents to illustrate the viability and effectiveness of the proposed framework.

An Improved Artificial Fish Swarm Algorithm based on Hybrid Behavior Selection

Zhehuang Huang,Yidong Chen 보안공학연구지원센터 2013 International Journal of Control and Automation Vol.6 No.5

Customer Behavior Pattern Discovery by Adaptive Clustering Based on Swarm Intelligence

Weihui Dai 한국데이타베이스학회 2010 Journal of information technology applications & m Vol.17 No.1

Customer behavior pattern discovery is the fundament for conducting customer oriented services and the services management. But, the composition, need, interest and experience of customers may be continuously changing, thereof lead to the difficulty in refining a stable description of their consistent behavior pattern. This paper presented a new method for the behavior pattern discovery from a changing collection of customers. It was originally inspired from the swarm intelligence of ant colony. By the adaptive clustering, some typical behavior patterns which reflect the characteristics of related customer clusters can extracted dynamically and adaptively.

군집 로봇의 침입자 포위를 위한 비동기 행동 제어 알고리즘

김종선(Jong Seon Kim),주영훈(Young Hoon Joo) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.9

In this paper, we propose an asynchronous behavior control algorithm of the swarm robot for surrounding intruders when detected an intruder in a surveillance environment. The proposed method is divided into three parts: First, we proposed the method for the modeling of a state of the swarm robot. Second, we proposed an asynchronous behavior control algorithm for the surrounding an intruder by the swarm robot. Third, we proposed a control method for the collision avoidance with the swarm robot. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.

군집 로봇 기반 공간 탐색을 위한 행동 제어 알고리즘

탁명환(Myung Hwan Tak),주영훈(Young Hoon Joo) 대한전기학회 2011 전기학회논문지 Vol.60 No.11

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

Customer Behavior Pattern Discovery by Adaptive Clustering Based on Swarm Intelligence

Dai, Weihui Korea Data Strategy Society 2010 Journal of information technology applications & m Vol.17 No.1

Customer behavior pattern discovery is the fundament for conducting customer oriented services and the services management. But, the composition, need, interest and experience of customers may be continuously changing, thereof lead to the difficulty in refining a stable description of their consistent behavior pattern. This paper presented a new method for the behavior pattern discovery from a changing collection of customers. It was originally inspired from the swarm intelligence of ant colony. By the adaptive clustering, some typical behavior patterns which reflect the characteristics of related customer clusters can extracted dynamically and adaptively.