Swarm intelligence on graphs
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Swarm Intelligence on Graphs. Advanced Computer Networks: Part 2. Agenda. Graph Theory (Brief) Swarm Intelligence Multi-agent Systems Consensus Protocol Example of Work. Graph Theory. Graph Theory. Graph connection: nodes and links (undirected graph: balanced digraph) Identity matrix

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Swarm Intelligence on Graphs

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Swarm intelligence on graphs

Swarm Intelligence on Graphs

Advanced Computer Networks: Part 2


Agenda

Agenda

  • Graph Theory (Brief)

  • Swarm Intelligence

  • Multi-agent Systems

  • Consensus Protocol

  • Example of Work


Graph theory

Graph Theory


Graph theory1

Graph Theory

  • Graph connection: nodes and links (undirected graph: balanced digraph)

  • Identity matrix

    • or unit matrix of size n is the n×nsquare matrix with ones on the main diagonal and zeros elsewhere

      • AIn= A

Identity Matrix


Graph theory2

Graph Theory

  • Adjacency matrix

    • a means of representing which or nodes of a graph are adjacent to which other nodes

n1

n2

n3

n4

n5

n6

n1

n2

n3

Node 1-6

n4

n5

n6

Graph

Adjacency Matrix


Graph theory3

Graph Theory

  • Degree matrix

n1

n2

n3

n4

n5

n6

n1

n2

n3

Node 1-6

n4

n5

n6

Graph

Degree Matrix


Graph theory4

Graph Theory

  • Laplacian matrix

L =

Graph


Swarm behavior in nature

Swarm Behavior in Nature

Collective Behavior

Self-organized System


Swarm intelligence

Swarm Intelligence

  • Ant Colony OptimizationAlgorithms

http://www.funpecrp.com.br/gmr/year2005/vol3-4/wob09_full_text.htm


Swarm intelligence1

Swarm Intelligence

  • Ant Colony OptimizationAlgorithms

    • The Traveling Salesman Problem

  • A set of cities is given and the distance between each of them is known.

  • The goal is to find the shortest tour that allows each city to be visited once and only once.


Swarm intelligence2

Swarm Intelligence

  • Ant Colony OptimizationAlgorithms

    • the Traveling Salesman Problem: An iterative algorithm

      • At each iteration, a number of artificial ants are considered.

      • Each of them builds a solution by walking from node to node on the graph with the constraint of not visiting any vertex that she has already visited in her walk.

      • An ant selects the following node to be visited according to a stochastic mechanism that is biased by the pheromone: when in node i, the following node is selected stochastically among the previously unvisited ones

      • if j has not been previously visited, it can be selected with a probability that is proportional to the pheromone associated with edge (i, j).

      • the pheromone values are modified in order to bias ants in future iterations to construct solutions similar to the best ones previously constructed.


Swarm intelligence3

Swarm Intelligence

  • Ant Colony OptimizationAlgorithms


Swarm intelligence4

Swarm Intelligence

  • Ant Colony OptimizationAlgorithms

    • ConstructAntSolutions:

      • A set of m artificial ants constructs solutions from elements of a finite set of available solution components.

    • ApplyLocalSearch:

      • Once solutions have been constructed, and before updating the pheromone, it is common to improve the solutions obtained by the ants through a local search.

    • UpdatePheromones:

      • The aim of the pheromone update is to increase the pheromone values associated with good or promising solutions, and to decrease those that are associated with bad ones.

      • Usually, this is achieved

        • by decreasing all the pheromone values through pheromone evaporation

        • by increasing the pheromone levels associated with a chosen set of good solutions.


Swarm intelligence5

Swarm Intelligence

  • Particle Swarm OptimizationAlgorithms (PSO)

    • PSO emulates the swarm behavior of insects, animals herding, birds flocking, and fish schooling where these swarms search for food in a collaborative manner.

    • Each member in the swarm adapts its search patterns by learning from its own experience and other members’ experiences.

    • A member in the swarm, called a particle, represents a potential solution which is a point in the search space.

    • The global optimum is regarded as the location of food.

    • Each particle has a fitness value and a velocity to adjust its flying direction according to the bestexperiences of the swarm to search for the global optimum in the solution space.

http://science.howstuffworks.com/environmental/life/zoology/insects-arachnids/termite3.htm


Swarm intelligence6

Swarm Intelligence

  • Particle Swarm OptimizationAlgorithms (PSO)

http://www.sciencedirect.com/science/article/pii/S0960148109001232


Swarm intelligence7

Swarm Intelligence

  • Application of Swarm Principles: Swarm of Robotics

  • http://www.youtube.com/watch?feature=player_embedded&v=rYIkgG1nX4E#!

http://www.domesro.com/2008/08/swarm-robotics-for-domestic-use.html


Multi agent systems

Multi-Agent Systems

  • Multi-agent system

    • Many agents:

      • homogeneous

      • heterogeneous

    • Interaction topology

      • complex network

  • How to control the global behavior of the multi-agent system?

  • How to apply the proposed model to solve the realistic problem?

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Consensus protocols

Consensus Protocols

  • Consensus problem

    • A group of agents

      • To make a decision

      • To reach an agreement

      • Depend on their shared state information

      • Information exchange among the agents

  • To design a suitable protocol for the group to reach a consensus

  • Shared information among agents is converged to the group decision value

    • but do not allow to reach a particular value

18


Consensus protocols1

Consensus Protocols


Consensus protocols2

Consensus Protocols


Calculation examination

Calculation Examination


Leader following discrete time consensus protocol

Leader-Following Discrete-time Consensus Protocol

  • Effective leadership and decision making in animal groups on the move

22


Leader following discrete time consensus protocol1

Leader-Following Discrete-time Consensus Protocol

  • Leader-following consensus models

    • agreement of a group based on specific quantities of interest

  • Leader

    • an external input to control the global behavior of the system

    • determine the final state of the system

    • unaffected by the followers

    • send the information to the followers only

  • Followers

    • reach consensus following the leader's state

    • influenced by the leader directly

    • no feedback information from the followers to the leader

23


W ren 2007

W. Ren, 2007

  • Multi-vehicle consensus with a time-varying reference state

1

24


W ren 20071

W. Ren, 2007

2

3

c

25


Y cao 2009

Y. Cao, 2009

  • Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication

4

26


Y cao 20091

Y. Cao, 2009

5

ζ1(0)=3, ζ2(0)=1, ζ3(0)=-1, ζ4(0)=-2

ζ1(-1)=0, ζ2(-1)=0, ζ3(-1)=0, ζ4(-1)=0

27


Example of work leader following behavior

Example of Work:Leader-Following Behavior

28


Proposed work leader following behavior

Proposed work: Leader-Following Behavior

6

29


Leader following behavior

Leader-Following Behavior

30


Leader following behavior leader connects to node 1 2 3 4 respectively

Leader-Following Behavior leader connects to node 1, 2, 3, 4 respectively

Compared with

1

31


Leader following behavior1

Leader-Following Behavior

5

6

32


Leader following behavior2

Leader-Following Behavior

33


Further work

Further Work

  • Large scale multi-agent networks with dynamical topologies

  • Partial information exchange between followers and leader

    • How to identify the leader?

    • How the leader control the group behavior?

  • Consensus on large scale multi-agent networks

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References

References

  • www.wikipedia.com

  • Marco Dorigo, Mauro Birattari, and Thomas St¨utzle, “Ant Colony Optimization”, IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE, NOVEMBER, 2006.

  • J. J. Liang, A. K. Qin, “Comprehensive Learning Particle Swarm Optimizer for Global Optimization of Multimodal Functions”, IEEE TRANSACTIONS ON EVOLUTIONARY COMPUTATION, VOL. 10, NO. 3, JUNE 2006.

  • J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Trans. Autom. Control, vol. 49, pp.1465-1476, 2004.

  • D. B. Kingston, R. W. Beard, "Discrete-time average-consensus under switching network topologies," in Proc. American Control Conf.,14-16 June 2006.

  • W. Ren, "Multi-vehicle consensus with a time -varying reference state, “Systems & Control Letters, vol. 56, pp. 474-483, 2007.

  • Y. Cao, W. Ren, Y. Li, "Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication," Automatica, vol. 45, pp. 1299-1305, 2009.

  • J. Hu, Y. Hong, "Leader-follower coordination of multi-agent systems with coupling time delays," Physica A: Statistical Mechanics and its Applications., vol. 374, iss. 2, pp.853-863, 2007.

  • D. Bauso, L. Giarr'e, R. Pesenti, "Distributed consensus protocols for coordinating buyers," Proc. IEEE Decision and Control Conf., December, 2003.

  • R. E. Kranton, D. F. Minehart, "A theory of buyer-seller networks," The American Economic Review, vol. 91, no. 3, pp. 485-508, 2001.

  • I.D. Couzin, J. Krause, N.R. Franks, S. A. Levin, “Effective leadership and decision making in animal groups on the move,” Nature, iss. 433, pp. 513-516, 2005.

  • R.O. Saber, R.M. Murray, “Flocking with obstacle avoidance: cooperation with limited communication in mobile networks,” in Proc. IEEE Decision and Control Conf., vol.2, pp. 2022-2028, 2003.

  • E. Semsar-Kazerooni, K. Khorasani, “Optimal consensus algorithms for cooperative team of agents subject to partial information,” Automatica, 2008.

  • J. Zhou, W. Yu, X. Wu, M. Small, J. Lu, “Flocking of multi-agent dynamical systems based on pseudo-leader mechanism,” Chaotic Dynamics, 2009.

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