On Swarm Optimality in Dynamic and Symmetric Environments

Yaniv Altshuler, Israel A. Wagner, Alfred M. Bruckstein

Abstract

The field of multi agents and multi robotics has become increasingly popular during the last two decades. The motivation behind multi agents based systems is that many tasks can be much efficiently completed by using multiple simple autonomous agents (robots, software agents, etc.) instead of a single sophisticated one. However, when examining such systems, one may be concerned of the price-tag attached to the decentralized nature of swarm based approaches. Meaning, while we simplify designs and control mechanisms in order to save costs and computation resources, how far do our systems drift from optimal- ity? This work examines this issue by constructing an optimal algorithm for the Dynamic Cooperative Cleaners problem (presented and analyzed in [2]). The performance of the SWEEP algorithm of [2] is compared to this of an optimal algorithm. The results of this comparison show that not only that the swarm algorithm produces close results to the optimal solution, but also as the problem gets harder, the performance of the two converge. In addition, insightful results concerning optimal swarms in symmetric environments are presented.

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Paper Citation


in Harvard Style

Altshuler Y., A. Wagner I. and M. Bruckstein A. (2005). On Swarm Optimality in Dynamic and Symmetric Environments . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 64-71. DOI: 10.5220/0001196900640071


in Bibtex Style

@conference{mars05,
author={Yaniv Altshuler and Israel A. Wagner and Alfred M. Bruckstein},
title={On Swarm Optimality in Dynamic and Symmetric Environments},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={64-71},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001196900640071},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - On Swarm Optimality in Dynamic and Symmetric Environments
SN - 972-8865-34-1
AU - Altshuler Y.
AU - A. Wagner I.
AU - M. Bruckstein A.
PY - 2005
SP - 64
EP - 71
DO - 10.5220/0001196900640071