NDLI: A swarm-based algorithm for optimal spatial coverage of an unknown region

Content Provider	IEEE Xplore Digital Library
Author	Antal, M. Tamas, I. Cioara, T. Anghl, I. Salomie, I.
Copyright Year	2013
Description	Author affiliation: Comput. Sci. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania (Antal, M.; Tamas, I.; Cioara, T.; Anghl, I.; Salomie, I.)
Abstract	This paper presents an algorithm for optimal spatial coverage of an unknown region by a swarm of agents. The algorithm is based on the Ant Colony Optimization heuristic which is mapped and adapted to solve the current optimization problem. Each agent will leave a virtual pheromone trail during its movement through the unknown region, either attractor or repellent, represented by a positive or negative value, that decays in time. A novel stimergy technique is used to coordinate the agents' behavior when deciding to follow or to move away from the pheromone trail, depending on the pheromone value. For exploring the unknown areas a combination of a greedy technique based on the concept of rejection vector and a probabilistic technique for selecting the agents' rotating angles are employed. The obtained results are promising showing that our solution manages to obtain a coverage with up to 40% higher than classic rejection algorithm and with up to 25% that the distributed rejection algorithm.
Sponsorship	IEEE Romanian Sect.
Starting Page	7
Ending Page	13
File Size	252098
Page Count	7
File Format	PDF
ISBN	9781479914937
e-ISBN	9781479914944
DOI	10.1109/ICCP.2013.6646073
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-05
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis stimergy coordination Heuristic algorithms rejection vector Redundancy optimal spatial coverage Probabilistic logic Vectors swarm based optimization Robots Optimization
Content Type	Text
Resource Type	Article

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