Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System

Swarm intelligence can be described as a complex behaviour generated from a large number of individual agents, where each agent follows very simple rules. It is actually inspired by understanding the decentralized mechanisms in the organization of natural swarms such as the birds, the ants, the bees...

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Main Author:	Abidin, Zulkifli Zainal
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK1-9971 Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.usm.my/45234/1/Zulkifli%20Bin%20Zainal%20Abidin24.pdf
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id	my-usm-ep.45234
record_format	uketd_dc
spelling	my-usm-ep.452342019-08-09T07:47:26Z Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System 2013-07 Abidin, Zulkifli Zainal TK1-9971 Electrical engineering. Electronics. Nuclear engineering Swarm intelligence can be described as a complex behaviour generated from a large number of individual agents, where each agent follows very simple rules. It is actually inspired by understanding the decentralized mechanisms in the organization of natural swarms such as the birds, the ants, the bees, the glowworms, and the fireflies. Observation of these biological behaviour has given birth to swarm robotics whereby robots have the capability to work with one another in a group to achieve the same kind of parallelism, robustness and collective capabilities. A collective behaviour movement strategy such as a “source search” and “aggregation” are commonly exhibited by the animals while finding their source of food. However, the situation for the robots is to find the source of odour, light, and sound. Meanwhile, there has been mounting interest, particularly for finding the deepest location in lakes and dams for bathymetric survey systems. Using the existing lawnmower methods incur substantial costs in terms of time, accuracy and reliability. Therefore, the usage of a swarming robotic system is proposed. In this thesis, a simple framework and methodology in developing a bio-inspired algorithm for cooperative swarming robotic application has been developed. The fruit flies or Drosophila Melanogaster movement strategy offers some advantages such as strategic 'search-aggregation' cycle, distribution of moving patterns with Levy Random, information sharing in real-time, and reduction of controller parameters during movements. A number of benchmark function processes were conducted to assess the performance of proposed FOA (Fly Optimisation Algorithm). 2013-07 Thesis http://eprints.usm.my/45234/ http://eprints.usm.my/45234/1/Zulkifli%20Bin%20Zainal%20Abidin24.pdf application/pdf en public phd doctoral Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Abidin, Zulkifli Zainal Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
description	Swarm intelligence can be described as a complex behaviour generated from a large number of individual agents, where each agent follows very simple rules. It is actually inspired by understanding the decentralized mechanisms in the organization of natural swarms such as the birds, the ants, the bees, the glowworms, and the fireflies. Observation of these biological behaviour has given birth to swarm robotics whereby robots have the capability to work with one another in a group to achieve the same kind of parallelism, robustness and collective capabilities. A collective behaviour movement strategy such as a “source search” and “aggregation” are commonly exhibited by the animals while finding their source of food. However, the situation for the robots is to find the source of odour, light, and sound. Meanwhile, there has been mounting interest, particularly for finding the deepest location in lakes and dams for bathymetric survey systems. Using the existing lawnmower methods incur substantial costs in terms of time, accuracy and reliability. Therefore, the usage of a swarming robotic system is proposed. In this thesis, a simple framework and methodology in developing a bio-inspired algorithm for cooperative swarming robotic application has been developed. The fruit flies or Drosophila Melanogaster movement strategy offers some advantages such as strategic 'search-aggregation' cycle, distribution of moving patterns with Levy Random, information sharing in real-time, and reduction of controller parameters during movements. A number of benchmark function processes were conducted to assess the performance of proposed FOA (Fly Optimisation Algorithm).
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Abidin, Zulkifli Zainal
author_facet	Abidin, Zulkifli Zainal
author_sort	Abidin, Zulkifli Zainal
title	Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
title_short	Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
title_full	Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
title_fullStr	Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
title_full_unstemmed	Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System
title_sort	fruit-fly based searching algorithm for cooperative swarming robotic system
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2013
url	http://eprints.usm.my/45234/1/Zulkifli%20Bin%20Zainal%20Abidin24.pdf
_version_	1747821474444476416

Fruit-Fly Based Searching Algorithm For Cooperative Swarming Robotic System

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