A Comparative Study of Neural Networks Based Learning Strategies for Collective Robotic Search Problem

Abstract

One important application of mobile robots is searching a geographical region to locate the origin of a specific sensible phenomenon. A variety of optimization algorithms can be employed to locate the target source which has the maximum intensity of the distribution of illumination function. It is very important to evaluate the performance of those optimization algorithms so that the researchers can adopt the most appropriate optimization approach to save a lot of execution time and cost of both collective robots and human beings. In this paper, we provide three different neural network algorithms: steepest ascent algorithm, combined gradients algorithm and stochastic optimization algorithm to solve the collective robotics search problem. Experiments with different pair of number of sources and robots were carried out to investigate the effect of sources size and team size on the task performance, as well as the risk of mission failure. The experimental results showed that the performance of steepest ascent method is better than that of combined gradient method, while the stochastic optimization method is better than steepest ascent method.

Meeting Name

SPIE Vol. 4390: Applications and Science of Computational Intelligence IV (2001: Apr. 17-18, Orlando, FL)

Department(s)

Electrical and Computer Engineering

Second Department

Engineering Management and Systems Engineering

International Standard Serial Number (ISSN)

0277-786X

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2001 SPIE--The International Society for Optical Engineering, All rights reserved.

Publication Date

01 Jan 2001

Link to Full Text

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