Tracking and Sensor Coverage of Spatio-temporal Quantities Using a Swarm of Artificial Foraging Agents  

Tracking and Sensor Coverage of Spatio-temporal Quantities Using a Swarm of Artificial Foraging Agents

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作  者:John Oluwagbemiga Oyekan Dongbing Gu Huosheng Ha 

机构地区:[1]School of Aerospace, Transport and Manufacturing, Cranfield University, College Road, Cranfield, MK43 OAL, UK [2]School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, CO4 3SQ, UK

出  处:《Journal of Bionic Engineering》2016年第4期679-689,共11页仿生工程学报(英文版)

摘  要:Using a network of mobile sensors to track and map a dynamic spatio-temporal process in the environment is one of the current challenges in multi-agent systems. In this work, a distributed probabilistic multi-agent algorithm inspired by the bacte- rium foraging behavior is presented. The novelty of the algorithm lies in being capable of tracking and mapping a spa- tio-temporal quantity without the need of machine learning, estimation algorithms or future planning. This is unlike most current techniques that rely heavily on machine learning to estimate the distribution as well as the profile of spatio-temporal quantities. The experimental studies carried out in this work show that the algorithm works well by following the concentration gradient of a dynamic plume created under diffusive conditions. Furthermore, the algorithm is inherently capable of finding the source of a diffusive spatio-temporal quantity as well as performing environmental exploration. It is computationally tractable for simple agents, shown to adapt to its environment and can deal successfully with noise in sensor readings as well as in robot dynamics.Using a network of mobile sensors to track and map a dynamic spatio-temporal process in the environment is one of the current challenges in multi-agent systems. In this work, a distributed probabilistic multi-agent algorithm inspired by the bacte- rium foraging behavior is presented. The novelty of the algorithm lies in being capable of tracking and mapping a spa- tio-temporal quantity without the need of machine learning, estimation algorithms or future planning. This is unlike most current techniques that rely heavily on machine learning to estimate the distribution as well as the profile of spatio-temporal quantities. The experimental studies carried out in this work show that the algorithm works well by following the concentration gradient of a dynamic plume created under diffusive conditions. Furthermore, the algorithm is inherently capable of finding the source of a diffusive spatio-temporal quantity as well as performing environmental exploration. It is computationally tractable for simple agents, shown to adapt to its environment and can deal successfully with noise in sensor readings as well as in robot dynamics.

关 键 词:bioinspired algorithm artificial foraging swarm spatio-temporal mapping BACTERIUM 

分 类 号:Q[生物学]

 

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