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Modified Particle Swarm Algorithm for Decentralized Swarm Agent

Modified Particle Swarm Algorithm for Decentralized Swarm Agent. 2004 IEEE International Conference on Robotic and Biomimetics Dong H. Kim Seiichi Shin. 9457515 林盈吟. Outline. Introduction Swarm Model Description and Problem Statement Modified Particle Swarm Algorithm Simulation Examples

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Modified Particle Swarm Algorithm for Decentralized Swarm Agent

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  1. Modified Particle Swarm Algorithm for Decentralized Swarm Agent 2004 IEEE International Conference on Robotic and Biomimetics Dong H. Kim Seiichi Shin 9457515 林盈吟

  2. Outline • Introduction • Swarm Model Description and Problem Statement • Modified Particle Swarm Algorithm • Simulation Examples • Conclusion

  3. Introduction • Self-organization in a swarm is the ability to distribute itself “optimally” for given task. • Nonlinear oscillator (2000) • Behavior-based intelligences • Particle Swarm Optimization

  4. Environment and agent model

  5. Particle Swarm optimization • Representation • Objective function • Velocity • position

  6. Modified Particle Swarm Algorithm • Velocity

  7. Selection of pi • Fixed target • Moving target • Selection of pg • Fixed target • Moving target

  8. The relation between weighting factors and a moving target • c3<c4: leader • c3>c4: randomly

  9. Obstacle avoidance • Fitness function

  10. Penalty function

  11. Virtual zone

  12. Simulation Examples • The comparison of the MPSA with and without

  13. Migration to a moving target in the existence of obstacle

  14. Conclusion • The paper presents a self-organization scheme based on the MPSA for decentralized swarm agents. • This is a first attempt that the PSO concept is adapted to self-organization for swarm system.

  15. Q&A

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