Comparison of bio-inspired algorithms applied to the coordination of mobile robots considering the energy consumption

Palmieri, Nunzia, Yang, Xin-She ORCID:, De Rango, Floriano and Marano, Salvatore (2019) Comparison of bio-inspired algorithms applied to the coordination of mobile robots considering the energy consumption. Neural Computing and Applications, 31 (1) . pp. 263-286. ISSN 0941-0643 [Article] (doi:10.1007/s00521-017-2998-4)

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Many applications, related to autonomous mobile robots, require to explore in an unknown environment searching for static targets, without any a priori information about the environment topology and target locations. Targets in such rescue missions can be fire, mines, human victims, or dangerous material that the robots have to handle. In these scenarios, some cooperation among the robots is required for accomplishing the mission. This paper focuses on the application of different bio-inspired metaheuristics for the coordination of a swarm of mobile robots that have to explore an unknown area in order to rescue and handle cooperatively some distributed targets. This problem is formulated by first defining an optimization model and then considering two sub-problems: exploration and recruiting. Firstly, the environment is incrementally explored by robots using a modified version of ant colony optimization. Then, when a robot detects a target, a recruiting mechanism is carried out to recruit a certain number of robots to deal with the found target together. For this latter purpose, we have proposed and compared three approaches based on three different bio-inspired algorithms (Firefly Algorithm, Particle Swarm Optimization, and Artificial Bee Algorithm). A computational study and extensive simulations have been carried out to assess the behavior of the proposed approaches and to analyze their performance in terms of total energy consumed by the robots to complete the mission. Simulation results indicate that the firefly-based strategy usually provides superior performance and can reduce the wastage of energy, especially in complex scenarios.

Item Type: Article
Research Areas: A. > School of Science and Technology > Design Engineering and Mathematics
Item ID: 22009
Notes on copyright: This is a post-peer-review, pre-copyedit version of an article published in Neural Computing and Applications. The final authenticated version is available online at Springer via
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Depositing User: Xin-She Yang
Date Deposited: 15 Jun 2017 10:02
Last Modified: 09 Jun 2021 14:17

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