Next Article in Journal
A Compact CSRR-Based Sensor for Characterization of the Complex Permittivity of Dielectric Materials
Previous Article in Journal
Deep Learning-Based Context-Aware Video Content Analysis on IoT Devices
 
 
Article
Peer-Review Record

Implementation of Machine Learning Algorithms on Multi-Robot Coordination

Electronics 2022, 11(11), 1786; https://doi.org/10.3390/electronics11111786
by Tuncay Yiğit and Şadi Fuat Çankaya *,†
Reviewer 1: Anonymous
Reviewer 2:
Reviewer 3:
Electronics 2022, 11(11), 1786; https://doi.org/10.3390/electronics11111786
Submission received: 27 April 2022 / Revised: 28 May 2022 / Accepted: 1 June 2022 / Published: 4 June 2022
(This article belongs to the Section Computer Science & Engineering)

Round 1

Reviewer 1 Report

Implementation of Machine Learning Algorithms on Multi-Robot Coordination

 

The paper describes machine learning algorithm implementation to control multiple robots in coordination using Arduino

 

Following are some comments regarding the paper:

 

  1. Change the English of the paper from 1st person perspective to 3rd person perspective or passive state. For example:

Original Sentence: We see that, methods such as A* and greedy are often used here.

Change to: It is seen that, methods such as A* and greedy are often used here

 

N.B. This is just an example. Change according to the meaning of your paper so that the original meaning remains unaltered.

the review section need to have more related paper:

 

It is advised to refer to the following papers regarding robot’s mathematical model:

  1. J. Moshayedi, A. Shuvam Roy, S. K. . Sambo, Y. . Zhong, and L. Liao, “ Review On: The Service Robot Mathematical Model ”, EAI Endorsed Trans AI Robotics, vol. 1, pp. 1–19, Feb. 2022.
  2. Moshayedi, Ata Jahangir, Atanu Shuvam Roy, and Liefa Liao. "PID Tuning Method on AGV (automated guided vehicle) Industrial Robot." Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering4 (2019): 53-66.

 

It is advised to refer to the following paper regarding deep learning techniques:

  1. J. . Moshayedi, A. S. . Roy, A. Kolahdooz, and Y. . Shuxin, “Deep Learning Application Pros And Cons Over Algorithm”, EAI Endorsed Trans AI Robotics, vol. 1, pp. 1–13, Feb. 2022.

It is advised to refer to the following paper regarding networking with Arduino using zonal architecture:

  1. Moshayedi, Ata Jahangir, et al. "Raspberry Pi SCADA Zonal based System for Agricultural Plant Monitoring." 2019 6th International Conference on Information Science and Control Engineering (ICISCE). IEEE, 2019.

It is advised to refer to the following paper regarding control of robot via Arduino

  1. Moshayedi, Ata Jahangir, Abolfazl Moradian Agda, and Morteza Arabzadeh. "Designing and Implementation a Simple Algorithm Considering the Maximum Audio Frequency of Persian Vocabulary in Order to Robot Speech Control Based on Arduino." Fundamental Research in Electrical Engineering. Springer, Singapore, 2019. 331-346.

 

  1. Pictures need to refer and positioned proper in text but Authors should increase the visibility of image and text insides, Graphs are good, Equations are Good
  2. Figure 5 picture resource should specify
  3. Figures 6,7,8 can be combined all in one figure
  4. Figure 10 can have labelling to describe the circuit in-image. and I think one Arduino is enough
  5. Figure 11,12 need the proper labeling
  6. variable inside all equation should specify for example equation 3 and 4 variable are not clear in text
  7. table 1 and 2 can be represent in the form of picture because its not showing any number
  8. table 3 should mentioned in text
  9. Figure 13 place should change because the text is after picture , and algorithm 2 is not refer in text please recheck all image
  10. Figure 18, 19 could be side by side to save space.
  11. Figure 24 label is not clear
  12. Please check the full text carefully, avoid grammar or spelling mistakes
  13. Authors are requested to make typesetting strictly according to the paper template on the conference website.
  14. figure 16 need label

 

Author Response

Hello sir, 

First of all, thank you for your valuable feedback and advice.

I made the revisions you requested. I present it to you in order.

1-) (Requested) 

Change the English of the paper from 1st person perspective to 3rd person perspective or passive state. For example:

Original Sentence: We see that, methods such as A* and greedy are often used here.

Change to: It is seen that, methods such as A* and greedy are often used here

Revised=> English is arranged according to the 3rd person perspective.

2-) Revised=> Requested articles were added as 44,45, etc.

3-) (Requested) Pictures need to refer and positioned proper in text but Authors should increase the visibility of image and text insides, Graphs are good, Equations are Good

Revised=> The quality of those which need to improve the picture quality has been increased (Figure 5 etc.)

4-) (Requested) Figure 5 picture resource should specify

Revised=> Source added.

5-) (Requested) Figures 6,7,8 can be combined all in one figure

Revised=> It was done as requested. After this change, the figures were renumbered.

6-)(Requested) Figure 10 can have labelling to describe the circuit in-image. and I think one Arduino is enough

Revised=> Added a description to the photo.

7-) (Requested) Figure 11,12 need the proper labeling

Revised=> 
Figure 11 - Multi-Robot Coordination Simulation On Grid
Figure 12 - Graph Of Increase In Target Finding Time By Ambient Density

8-) (Requested) variable inside all equation should specify for example equation 3 and 4 variable are not clear in text

Revised=> Equations already seem clear sir, their readability is the same as texts.

9-) (Requested) table 1 and 2 can be represent in the form of picture because its not showing any number

Revised=> Numbering is done for the tables.

10-) (Requested) table 3 should mentioned in text

Revised=> The text after Table 3 has been rearranged.

11-) (Requested) Figure 13 place should change because the text is after picture , and algorithm 2 is not refer in text please recheck all image


Revised=> According to the tex file, the figure comes after the text. So as desired. Added references for Algorithm 2.

12-) (Requested) Figure 18, 19 could be side by side to save space.

Revised=> Rearranged to be side by side.

13-) (Requested) Figure 24 label is not clear

Revised=> The label has been updated.

14-) (Requested) Please check the full text carefully, avoid grammar or spelling mistakes

Revised=>The English level of the article has been increased by using the English editing service.

15-) (Requested) Authors are requested to make typesetting strictly according to the paper template on the conference website.

Revised=> Considered and if the article is accepted, the MDPI layout service will be used.

16-)(Requested) figure 16 need label

Revised=> Label added.



Yours Sincerely

Reviewer 2 Report

The manuscript entitled “Implementation of Machine Learning Algorithms on Multi-Robot Coordination” has been investigated in detail. The topic addressed in the manuscript is potentially interesting and the manuscript contains some practical meanings, however, there are some issues which should be addressed by the authors:

  • The "Abstract" section can be made much more impressive by highlighting your contributions. The contribution of the study should be explained simply and clearly.
  • The readability and presentation of the study should be further improved. The paper suffers from language problems.
  • The “Introduction” section needs a major revision in terms of providing more accurate and informative literature review and the pros and cons of the available approaches and how the proposed method is different comparatively. Also, the motivation and contribution should be stated more clearly.
  • The importance of the design carried out in this manuscript can be explained better than other important studies published in this field. I recommend the authors to review other recently developed works.
  • What makes the proposed method suitable for this unique task? What new development to the proposed method have the authors added (compared to the existing approaches)? These points should be clarified.
  • Stability analysis of the proposed algorithm should be done.
  • What does "compration" in Figure 2 mean? The grammatical structure of the study should be thoroughly checked and edited.
  • Some figures (Figs. 2-4) in the study should be improved.
  • Figure 10 erodes the innovative aspect of the study, I would definitely not recommend using this type of diagram, which is in the hobby electronics type, in academic study.
  • Expressions in parentheses on lines 442-446 could not be understood? The language of the study should be improved.
  • “Discussion” section should be added in a more highlighting, argumentative way. The author should analysis the reason why the tested results is achieved.
  • The authors should clearly emphasize the contribution of the study. Please note that the up-to-date of references will contribute to the up-to-date of your manuscript. The study named "Metaheuristic optimization-based path planning and tracking of quadcopter for payload hold-release mission" recently published in this journal - can be used to explain the proposed method in the study or to indicate the contribution in the “Introduction” section.
  • How to set the parameters of proposed method for better performance?
  • The complexity of the proposed model and the model parameter uncertainty are not enough mentioned.
  • It will be helpful to the readers if some discussions about insight of the main results are added as Remarks.

This study may be proposed for publication if it is addressed in the specified problems.

Author Response

Hello sir, 

First of all, thank you for your valuable feedback and advice.

I made the revisions you requested. I present it to you in order.

1-) (Requested) The "Abstract" section can be made much more impressive by highlighting your contributions. The contribution of the study should be explained simply and clearly.

Revised=> The sentence describing the originality of the work in The Abstract section has been updated as "The distinctive property of this study is that it proposes a multi-robot system using a novel heuristic bat-inspired algorithm for use in search and rescue operations".

2-) (Requested) The readability and presentation of the study should be further improved. The paper suffers from language problems.

Revised=> After the revisions, the article was sent to the English service, and language deficiencies were corrected.

3-) (Requested) The “Introduction” section needs a major revision in terms of providing more accurate and informative literature review and the pros and cons of the available approaches and how the proposed method is different comparatively. Also, the motivation and contribution should be stated more clearly.

Revised=> After the specified revision request, new references were added to The "Introduction" section.

4-) (Requested) The importance of the design carried out in this manuscript can be explained better than other important studies published in this field. I recommend the authors to review other recently developed works.

Revised=> Added new citations, also includes similar studies.

5-) (Requested) What makes the proposed method suitable for this unique task? What new development to the proposed method have the authors added (compared to the existing approaches)? These points should be clarified.

Revised=> The last part of the introduction has been changed as follows;
"In this study, a robot system was designed within the scope of multi-robot coordination. First, a robot with more than one sensor was designed, then algorithms were developed to decide the robot's movement. Studies on the bat algorithm were examined and it was revealed that this algorithm gave superior results compared to the other algorithms examined in the study, which was one of the reasons for preference in using the bat algorithm. Virtual and real environments have been set up, and the robots were enabled to determine the location and direction by working in integration with each other. The performances of the bat algorithm and some other machine learning algorithms were compared and the results were examined."

6-) (Requested) Stability analysis of the proposed algorithm should be done.

Revised=> Article 49 was added upon revision request. Added stability analysis to the area where the bat algorithm is explained

7-) (Requested) What does "compration" in Figure 2 mean? The grammatical structure of the study should be thoroughly checked and edited.

Revised=> Incorrect word updated to "comparison"
8-) (Requested) Some figures (Figs. 2-4) in the study should be improved. Not Revised=> We couldn't make a correction, sir, because these images have not been revised because they describe the algorithm in the simplest and most comprehensive way.

9-) (Requested) Figure 10 erodes the innovative aspect of the study, I would definitely not recommend using this type of diagram, which is in the hobby electronics type, in academic study.

Revised=> The figure has been removed, the text there has been rearranged.

10-) (Requested) Expressions in parentheses on lines 442-446 could not be understood? The language of the study should be improved.

Revised=> Removed incomprehensible variable names in parentheses.   11-) (Requested) “Discussion” section should be added in a more highlighting, argumentative way. The author should analysis the reason why the tested results is achieved.

Revised=> The following sentences were added to the last part (Discussion);

"According to the simulations, the bat algorithm has the lowest error rate with an average of 1.5\%. After the random distribution of bats into space, their fitness values affect the next movement direction and severity of the whole population"

12-) (Requested) The authors should clearly emphasize the contribution of the study. Please note that the up-to-date of references will contribute to the up-to-date of your manuscript. The study named "Metaheuristic optimization-based path planning and tracking of quadcopter for payload hold-release mission" recently published in this journal - can be used to explain the proposed method in the study or to indicate the contribution in the “Introduction” section.

Revised=> Article added as number 50.

13-) (Requested) How to set the parameters of proposed method for better performance?

Revised=> Added a sentence to the "Results" section;

"In order for the algorithm to give the best performance, the frequency value should be less than 35, the loudness value should be greater than 30, the temperature should be 27 degrees or above, and the wavelength should be greater than 40. Because, looking at the working results of the algorithm, it was observed that progress was made in iterations with these values."

14-) (Requested) The complexity of the proposed model and the model parameter uncertainty are not enough mentioned.

Revised=> The following sentence has been added to the part where the bat algorithm is explained;

"According to the above formulas, it is seen that the complexity of the algorithm in its most optimized form is O(n)."

15-) (Requested) It will be helpful to the readers if some discussions about insight of the main results are added as Remarks.

Revised=> Discussion section expanded.



Yours Sincerely

Reviewer 3 Report

In this manuscript, the authors reported a heuristic bat-inspired algorithm. The study is devised to encourage extended works related to rescue operations of earthquake collapses. Overall, this topic is interesting. There are some areas in which the paper can be improved:

1) Page 2, line 47-49, the sentence “In disaster situations, studies on direction-finding are also predominant in search and rescue efforts [12] Disaster situation studies are carried out in various countries of the world with the help of robotic technologies [12].” is wrong.

 

2) Page 2, line 88, What does the methods such as A* and greedy in the sentence “We see that methods such as A* and greedy are often used here.” stand for? the format of the reference [10]-[11] is wrong reference. Please correct and check other areas. Also, Page 5, line 253, why is the word “Thanks” capitalized.

 

3) The performance of different algorithms is relatively small, please add more comparison data.

 

4) The interval between the figure 16 and the annotation is far. Please modify it.

 

5) What is the structure of the sensor used? Please add relevant pictures.

Author Response

Hello sir, 

First of all, thank you for your valuable feedback and advice.

I made the revisions you requested. I present it to you in order.

1-) (Requested) Page 2, line 47-49, the sentence “In disaster situations, studies on direction-finding are also predominant in search and rescue efforts [12] Disaster situation studies are carried out in various countries of the world with the help of robotic technologies [12].” is wrong.

Revised=> The two sentences above have been changed as follows:

"Various sensing and wireless technologies are used in disaster areas, remote and image control. Using these technologies, rescue teams can remotely control search and rescue robot systems when natural disasters occur, instead of entering the devastated area."

2-) (Requested) Page 2, line 88, What does the methods such as A* and greedy in the sentence “We see that methods such as A* and greedy are often used here.” stand for? the format of the reference [10]-[11] is wrong reference. Please correct and check other areas. Also, Page 5, line 253, why is the word “Thanks” capitalized.

Revised=> The sentence was changed as follows (relating to the context, emphasizing that the algorithms are search and shortest path finding algorithms)

"It is seen that search and finding the optimum solution algorithms such as A* and greedy are frequently used here." (Capitalized "Thanks" is spelled properly.)

3-) (Requested) The performance of different algorithms is relatively small, please add more comparison data.

Revised=> Figure 25 has been updated. The number of simulations compared has been increased from 4 to 7.

4-) (Requested) The interval between the figure 16 and the annotation is far. Please modify it.

Revised=> The description has been changed as follows:
"Graph of delay in obstacle detection by temperature"

5-) (Requested) What is the structure of the sensor used? Please add relevant pictures.

Revised=> Added image about sensor structure under the name of Figure 24
(Figure 24 – image22.png)




Yours Sincerely

Round 2

Reviewer 1 Report

The comments have been fully addressed.

Thanks for your effort

Reviewer 2 Report

All my comments have been thoroughly addressed. It is acceptable in the present form.

Reviewer 3 Report

I have no other suggestions.

Back to TopTop