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Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots
ETSI Telecomunicación, Universidad Politécnica de Madrid, Av. Complutense 30, 28040 Madrid, Spain
* Author to whom correspondence should be addressed.
Received: 10 October 2011; in revised form: 15 November 2011 / Accepted: 15 November 2011 / Published: 21 November 2011
Abstract: Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA), previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA’s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots’ distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce.
Keywords: swarm robotics; multi-agent systems; cooperative sensors; distributed task allocation; parameter optimization; genetic algorithms
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MDPI and ACS Style
Jevtić, A.; Gutiérrez, Á. Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots. Sensors 2011, 11, 10880-10893.
Jevtić A, Gutiérrez Á. Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots. Sensors. 2011; 11(11):10880-10893.
Jevtić, Aleksandar; Gutiérrez, Álvaro. 2011. "Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots." Sensors 11, no. 11: 10880-10893.