scholarly journals Collective Motion and Self-Organization of a Swarm of UAVs: A Cluster-Based Architecture

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3820
Author(s):  
Zain Anwar Ali ◽  
Zhangang Han ◽  
Rana Javed Masood
Keyword(s):  
Graph Theory ◽  
Collective Motion ◽  
Optimal Path ◽  
Dynamic Environment ◽  
Self Organization ◽  
Nsga Ii ◽  
Multi Agent ◽  
The Individual ◽  
Multiple Clusters ◽  
Leader Selection

This study proposes a collective motion and self-organization control of a swarm of 10 UAVs, which are divided into two clusters of five agents each. A cluster is a group of UAVs in a dedicated area and multiple clusters make a swarm. This paper designs the 3D model of the whole environment by applying graph theory. To address the aforesaid issues, this paper designs a hybrid meta-heuristic algorithm by merging the particle swarm optimization (PSO) with the multi-agent system (MAS). First, PSO only provides the best agents of a cluster. Afterward, MAS helps to assign the best agent as the leader of the nth cluster. Moreover, the leader can find the optimal path for each cluster. Initially, each cluster contains agents at random positions. Later, the clusters form a formation by implementing PSO with the MAS model. This helps in coordinating the agents inside the nth cluster. However, when two clusters combine and make a swarm in a dynamic environment, MAS alone is not able to fill the communication gap of n clusters. This study does it by applying the Vicsek-based MAS connectivity and synchronization model along with dynamic leader selection ability. Moreover, this research uses a B-spline curve based on simple waypoint defined graph theory to create the flying formations of each cluster and the swarm. Lastly, this article compares the designed algorithm with the NSGA-II model to show that the proposed model has better convergence and durability, both in the individual clusters and inside the greater swarm.

SWARM: A Novel Methodology for Integrated Circuit Layout Automation Based on Principles of Self-organization

2020 ◽  
Author(s):  
Daniel Marolt
Keyword(s):  
Integrated Circuits ◽  
Integrated Circuit ◽  
Design Automation ◽  
Point Of View ◽  
Self Organization ◽  
Multi Agent System ◽  
Self Organized ◽  
Multi Agent ◽  
The Individual ◽  
Place And Route

After more than three decades of electronic design automation, most layouts for analog integrated circuits are still handcrafted in a laborious manual fashion today. This book presents Self-organized Wiring and Arrangement of Responsive Modules (SWARM), a novel interdisciplinary methodology addressing the design problem with a decentralized multi-agent system. Its basic approach, similar to the roundup of a sheep herd, is to let autonomous layout modules interact with each other inside a successively tightened layout zone. Considering various principles of self-organization, remarkable overall solutions can result from the individual, local, selfish actions of the modules. Displaying this fascinating phenomenon of emergence, examples demonstrate SWARM’s suitability for floorplanning purposes and its application to practical place-and-route problems. From an academic point of view, SWARM combines the strengths of procedural generators with the assets of optimization algorithms, thus p...

scholarly journals Grouping-based adaptive spatial formation of swarm robots in a dynamic environment

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141878235 ◽  
Author(s):  
Qiuzhen Wang ◽  
Xinjun Mao ◽  
Shuo Yang ◽  
Yin Chen ◽  
Xinwang Liu
Keyword(s):  
Environmental Changes ◽  
Dynamic Environment ◽  
Convergence Speed ◽  
Communication Cost ◽  
Self Organization ◽  
Adaptive Mechanism ◽  
Group Level ◽  
Swarm Robots ◽  
The Individual ◽  
Spatial Formations

Spatial formations of swarm robots are increasingly applied in many domains in which the environments are dynamic and unpredictable. The autonomy of the individual robots and decentralization of the entire system increase the complexity of the response to environmental changes, which could prolong the formation convergence and significantly increase the communication cost. To address these issues, we propose an adaptive mechanism with three basic behaviours for each individual robot and design a grouping-based spatial formation algorithm for swarm robots to respond to changes and accomplish shape formation. Specifically, the robots are automatically partitioned into several groups based on their spatial neighbours. In this manner, the interactions and self-organization of robots are primarily performed at the intra-group rather than inter-group level, leading to decreased communication costs. Furthermore, this grouping mechanism naturally supports parallel formation and therefore improves the convergence speed. Our simulation and experimental results demonstrate that the proposed method significantly improves the convergence speed and decreases the communication cost, thus validating the effectiveness of the proposed adaptive mechanism.

EVA 2.0: Emotional and rational multimodal argumentation between virtual agents

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Niklas Rach ◽  
Klaus Weber ◽  
Yuchi Yang ◽  
Stefan Ultes ◽  
Elisabeth André ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
User Feedback ◽  
Virtual Agents ◽  
Multi Agent System ◽  
Dialogue Game ◽  
Multi Agent ◽  
The Individual ◽  
Minimal Bias ◽  
Intuitive Interface ◽  
Emotional Level

Abstract Persuasive argumentation depends on multiple aspects, which include not only the content of the individual arguments, but also the way they are presented. The presentation of arguments is crucial – in particular in the context of dialogical argumentation. However, the effects of different discussion styles on the listener are hard to isolate in human dialogues. In order to demonstrate and investigate various styles of argumentation, we propose a multi-agent system in which different aspects of persuasion can be modelled and investigated separately. Our system utilizes argument structures extracted from text-based reviews for which a minimal bias of the user can be assumed. The persuasive dialogue is modelled as a dialogue game for argumentation that was motivated by the objective to enable both natural and flexible interactions between the agents. In order to support a comparison of factual against affective persuasion approaches, we implemented two fundamentally different strategies for both agents: The logical policy utilizes deep Reinforcement Learning in a multi-agent setup to optimize the strategy with respect to the game formalism and the available argument. In contrast, the emotional policy selects the next move in compliance with an agent emotion that is adapted to user feedback to persuade on an emotional level. The resulting interaction is presented to the user via virtual avatars and can be rated through an intuitive interface.

scholarly journals Speech recognition algorithm for natural language management systems under variety of accents

2020 ◽  
Vol 164 ◽  
pp. 10015
Author(s):  
Irina Gurtueva ◽  
Olga Nagoeva ◽  
Inna Pshenokova
Keyword(s):  
Speech Recognition ◽  
Recognition Algorithm ◽  
Individual Characteristics ◽  
Point Of View ◽  
Language Management ◽  
Universal System ◽  
Sound Image ◽  
Behavioral Studies ◽  
Multi Agent ◽  
The Individual

This paper proposes a concept of a new approach to the development of speech recognition systems using multi-agent neurocognitive modeling. The fundamental foundations of these developments are based on the theory of cognitive psychology and neuroscience, and advances in computer science. The purpose of this work is the development of general theoretical principles of sound image recognition by an intelligent robot and, as the sequence, the development of a universal system of automatic speech recognition, resistant to speech variability, not only with respect to the individual characteristics of the speaker, but also with respect to the diversity of accents. Based on the analysis of experimental data obtained from behavioral studies, as well as theoretical model ideas about the mechanisms of speech recognition from the point of view of psycholinguistic knowledge, an algorithm resistant to variety of accents for machine learning with imitation of the formation of a person’s phonemic hearing has been developed.

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

AGENT-BASED SYSTEM ARCHITECTURE FOR DYNAMIC AND OPEN ENVIRONMENTS

2003 ◽  
Vol 02 (01) ◽  
pp. 105-133 ◽  
Author(s):  
ELHADI SHAKSHUKI ◽  
HAMADA GHENNIWA ◽  
MAHAMED KAMEL
Keyword(s):  
System Architecture ◽  
Rapid Growth ◽  
Dynamic Environment ◽  
Information Gathering ◽  
Information Resources ◽  
Architecture Design ◽  
Agent Based ◽  
Interface Agents ◽  
Multi Agent ◽  
Computing Environments

The rapid growth of the network-centered (Internet and Intranet) computing environments requires new architectures for information gathering systems. Typically, in these environments, the information resources are dynamic, heterogeneous and distributed. In addition, these computing environments are open, where information resources may be connected or disconnected at any time. This paper presents an architecture for a multi-agent information gathering system. The architecture includes three types of agents: interface, broker and resource agents. The interface agents interact with the users to fulfill their interests and preferences. The resource agents access and capture the content of the information resources. The broker agents facilitate cooperation among the information and the resource agents to achieve their desired goals. This paper provides the agents' architecture, design and implementations that enable them to cooperate, coordinate and communicate with each other to gather information in an open and dynamic environment.

scholarly journals SUPPORT OF SELF-EDUCATION IN A DISTANCE RETRAINING PROGRAM OF TUTORS

2020 ◽  
Vol 14 (4) ◽  
pp. 719-728
Author(s):  
T. A. Klimova ◽  
Keyword(s):  
Educational Environment ◽  
Educational Process ◽  
The Self ◽  
Self Determination ◽  
Educational Activity ◽  
Self Organization ◽  
Digital Environment ◽  
The Individual ◽  
Restrictive Measures

Introduction. The paper addresses the issue of support of the students involved in a fully online retraining program, which imposes special requirements on the development of the self-education ability. The study aims to establish the conditions for organizing the support of self-education in a digital educational environment. Materials and methods. The study relies on the methodology proposed by G.N. Prozumentova for reconstructing the innovative experience to analyze the reflexive text materials of the Logbook of students of the retraining program; to identify the points of stress, misunderstanding, breaks, and transitions during training; and make an analytical generalization. Results of the study. Categories of difficulties encountered by students of the program in their self-educational activity were identified, and the conditions necessary to support self-education were established. These are points of self-determination, professional trials, points of reflection, and individual educational route. Conclusion. In the context of restrictive measures during the pandemic and the transition to the online educational process, self-skills related to self-education, i.e., self-organization, independence, and self-determination, become essential. These competences are an indispensable part of the work of a tutor. However, before the tutor can support someone, they need to build these self skills themselves. The established conditions in the retraining programs will facilitate this process. At the same time, additional studies are required to reveal in more detail the individual progress of a person under these conditions for building a model for supporting the development of self-education ability, and to determine the methods for tutors to provide the support of this progress. Keywords. Self-education, self-determination, individual educational route, professional retraining, tutor, digital environment, self skills.

scholarly journals CORRELATION BETWEEN UNIVERSITY STUDENTS’ SELF-EDUCATIONAL ACTIVITY AND THE TIME PERSPECTIVE OF THE INDIVIDUAL

2016 ◽  
pp. 151-155
Author(s):  
S. A. Yudin
Keyword(s):  
Higher Education ◽  
University Students ◽  
Time Perspective ◽  
Basic Research ◽  
Educational Process ◽  
The Self ◽  
Educational Activity ◽  
Self Organization ◽  
Modern Education ◽  
The Individual

The paper considers various approaches to studying the self-organization of students’ educational activity, the assumption about the interrelation of self-organization of educational activity and time perspective of the individual is made. The importance of self-organization of educational activity in the modern education system of higher education institutions comes to light. Stages of formation of self-organization and possible difficulties which a person can face are sorted out. Results of basic research of the time perspective and self-organization of university students are stated. The interrelation between commitment and alloted time is defined, as well as regularity, emotional coloring of time, structure of time and feeling of time. The received results specify the possible directions of the organization of forms of psychological support of university students having problems with self-organization of time in the educational process.

scholarly journals On development of a technique for estimating structural dynamics and strength of modular phased array

2017 ◽  
pp. 75-82
Author(s):  
V. G. Lisovskiy ◽  
E. N. Khmelnitskiy ◽  
A. V. Kuzmicheva
Keyword(s):  
Structural Dynamics ◽  
Phased Array ◽  
Phased Arrays ◽  
Dynamic Environment ◽  
Vibration Acceleration ◽  
Transmission Coefficients ◽  
Mechanical Factors ◽  
Strain Stress ◽  
The Individual ◽  
Stiffening Effect

The purpose of the study was to develop a method of computational and experimental analysis to reduce the dimension of the problem, which makes it possible to simplify and accelerate the strength calculations. When using the method, one can take into account the stiffening effect of the carrier object, where the product will be installed, determine the transmission coefficients of vibration acceleration from the base of the structure to the individual units of the equipment to assess their strength and stability under the influence of mechanical factors. Moreover, the method allows for the strain-stress state analysis using the dynamic environment coefficients. Currently, the developed method is used in the design of several promising projects using modular phased arrays, both sea and land-based

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