Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Comparison of Heuristic Algorithms in Discrete Search and Surveillance Tasks Using Aerial Swarms
Year:2018
Research Areas
  • Automatic
Information
Abstract
The search of a given area is one of the most studied tasks in swarm robotics. Different heuristic methods have been studied in the past taking into account the peculiarities of these systems (number of robots, limited communications and sensing and computational capacities). In this work, we introduce a behavioral network made up of different well-known behaviors that act together to achieve a good performance, while adapting to different scenarios. The algorithm is compared with six strategies based on movement patterns in terms of three performance models. For the comparison, four scenario types are considered: plain, with obstacles, with the target location probability distribution and a combination of obstacles and the target location probability distribution. For each scenario type, different variations are considered, such as the number of agents and area size. Results show that although simplistic solutions may be convenient for the simplest scenario type, for the more complex ones, the proposed algorithm achieves better results.
International
Si
JCR
Si
Title
Applied Sciences-Basel
ISBN
2076-3417
Impact factor JCR
1,679
Impact info
Datos JCR del año 2016
Volume
8,711
10.3390/app8050711
Journal number
From page
1
To page
31
Month
SIN MES
Ranking
Participants
  • Autor: Pablo Garcia Auñon (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)