A Reliable Behavioral Model: Optimizing Energy Consumption and Object Clustering Quality by Naïve Robots

Wafa Aouadj, Mohamed-Rida Abdessemed and Rachid Seghir
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Wafa Aouadj: LaSTIC Laboratory, Batna 2 University, Algeria
Mohamed-Rida Abdessemed: LaSTIC Laboratory, Batna 2 University, Algeria
Rachid Seghir: LaSTIC Laboratory, Batna 2 University, Algeria

International Journal of Swarm Intelligence Research (IJSIR), 2021, vol. 12, issue 4, 125-145

Abstract: This study concerns a swarm of autonomous reactive mobile robots, qualified of naïve because of their simple constitution, having the mission of gathering objects randomly distributed while respecting two contradictory objectives: maximizing quality of the emergent heap-formation and minimizing energy consumed by aforesaid robots. This problem poses two challenges: it is a multi-objective optimization problem and it is a hard problem. To solve it, one of renowned multi-objective evolutionary algorithms is used. Obtained solution, via a simulation process, unveils a close relationship between behavioral-rules and consumed energy; it represents the sought behavioral model, optimizing the grouping quality and energy consumption. Its reliability is shown by evaluating its robustness, scalability, and flexibility. Also, it is compared with a single-objective behavioral model. Results' analysis proves its high robustness, its superiority in terms of scalability and flexibility, and its longevity measured based on the activity time of the robotic system that it integrates.

Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:igg:jsir00:v:12:y:2021:i:4:p:125-145

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