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Entropy 2018, 20(5), 378; https://doi.org/10.3390/e20050378

Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries

1
Automation and Applied Informatics Department, Politehnica University of Timisoara, 300223 Timisoara, Romania
2
Electrical Engineering and Information Technology Department, Technische Universität München, 80333 Munich, Germany
*
Author to whom correspondence should be addressed.
Received: 23 April 2018 / Revised: 15 May 2018 / Accepted: 16 May 2018 / Published: 18 May 2018
(This article belongs to the Section Complexity)
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Abstract

Living organisms have developed and optimized ingenious defense strategies based on positional entropy. One of the most significant examples in this respect is known as protean behavior, where a prey animal under threat performs unpredictable zig-zag movements in order to confuse, delay or escape the predator. This kind of defensive behavior can inspire efficient strategies for patrolling robots evolving in the presence of adversaries. The main goal of our proposed bioinspired method is to implement the protean behavior by altering the reference path of the robot with sudden and erratic direction changes without endangering the robot’s overall mission. By this, a foe intending to target and destroy the mobile robot from a distance has less time for acquiring and retaining the proper sight alignment. The method uses the chaotic dynamics of the 2D Arnold’s cat map as a primary source of positional entropy and transfers this feature to every reference path segment using the kinematic relative motion concept. The effectiveness of this novel biologically inspired method is validated through extensive and realistic simulation case studies. View Full-Text
Keywords: positional entropy; protean behavior; mobile robot; adversarial patrolling; chaotic dynamics; Arnold’s cat map positional entropy; protean behavior; mobile robot; adversarial patrolling; chaotic dynamics; Arnold’s cat map
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Curiac, D.-I.; Banias, O.; Volosencu, C.; Curiac, C.-D. Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries. Entropy 2018, 20, 378.

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