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Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots

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      Abstract

      Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA), previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA’s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots’ distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce.

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      Most cited references 22

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      In this paper we describe a localization and local communication system which allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter without the need of any centralized control or any external reference. The system relies on infrared communications with frequency modulation and is composed of two interconnected modules for data and power measurement. Thanks to the open hardware license under which it is released, the research community can easily replicate the system at a low cost and/or adapt it for applications in sensor networks and in robotics.
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            Author and article information

            Affiliations
            ETSI Telecomunicación, Universidad Politécnica de Madrid, Av. Complutense 30, 28040 Madrid, Spain; E-Mail: aguti@ 123456etsit.upm.es
            Author notes
            []Author to whom correspondence should be addressed; E-Mail: aleksandar.jevtic@ 123456upm.es ; Tel.: +34-91-915-495-700; Fax: +34-91-336-7278.
            Journal
            Sensors (Basel)
            Sensors (Basel, Switzerland)
            Molecular Diversity Preservation International (MDPI)
            1424-8220
            2011
            21 November 2011
            : 11
            : 11
            : 10880-10893
            3274319
            22346677
            10.3390/s111110880
            sensors-11-10880
            © 2011 by the authors; licensee MDPI, Basel, Switzerland.

            This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( http://creativecommons.org/licenses/by/3.0/).

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