NDLI: Distributed path planning for connectivity under uncertainty by ant colony optimization

Content Provider	IEEE Xplore Digital Library
Author	Fridman, A. Weber, S. Kumar, V. Kam, M.
Copyright Year	2008
Description	Author affiliation: Drexel Univ., Philadelphia, PA (Fridman, A.; Weber, S.)
Abstract	Movement and allocation of network resources for a system of communicating agents are usually optimized independently. Path planning under kinematic restrictions and obstacle avoidance provides a set of paths for the agents, and given the paths, it is then the job of network design algorithms to allocate communication resources to ensure a satisfactory rate of information exchange. In this paper, we consider the multiobjective problem of path planning for the sometimes conflicting goals of fast travel time and good network performance. In previous work we considered this problem under the assumption of full knowledge of network topologies and unlimited computational resources. In this paper, nothing is known a priori about topology, information is exchanged between nodes within a connected component of the network, and sources of environment-dependent communication failure can only be approximately estimated through learning. All the planning must be done online in a distributed fashion. We apply ant colony optimization to this problem of planning under uncertain information, and show that significant benefit in network performance can be achieved even under the difficult conditions of the scenario. Furthermore, we show the ability of nodes to quickly learn the communication patterns of the arena, and use this information for improved path planning.
Starting Page	1952
Ending Page	1958
File Size	819019
Page Count	7
File Format	PDF
ISBN	9781424420780
ISSN	07431619
DOI	10.1109/ACC.2008.4586778
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Path planning Uncertainty Ant colony optimization Resource management Network topology Communication system control Control systems Kinematics Job design Algorithm design and analysis
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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