This paper presents novel structures for optimization and communication of a swarm of mobile sensors or robots for maximizing local and global tasks such as firefighting, landmine detection, radioactivity detection, etc. The navigation of the sensors is carried out using two strategies. The first strategy is based on particle swarm optimization (PSO) and the second strategy is based on a swarm of fuzzy logic based controllers. In addition, the membership functions and the rules of the fuzzy logic controller (FLC) are optimized using the PSO algorithm. Navigation of mobile sensors is considered in this paper to locate desirable target sources in a given sensing area. Both approaches presented do not depend on the number of target sources. Results are provided for target locations based on a PSO, a swarm of fuzzy logic controllers and a swarm of optimized fuzzy logic controllers.

Meeting Name

39th IAS Annual Meeting of the IEEE Industry Applications Conference, 2004


Electrical and Computer Engineering

Keywords and Phrases

Fuzzy Control; Fuzzy Logic Controller; Mobile Robots; Mobile Sensors; Multi-Robot Systems; Optimisation; Particle Swarm Optimization; Path Planning

International Standard Serial Number (ISSN)


Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 2004 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 2004