research-article

Loosening Control—A Hybrid Approach to Controlling Heterogeneous Swarms

Authors:

David W. KingAuthors Info & Claims

ACM Transactions on Autonomous and Adaptive Systems (TAAS), Volume 16, Issue 2

Article No.: 5, Pages 1 - 26

https://doi.org/10.1145/3502725

Published: 04 March 2022 Publication History

Abstract

Large pervasive systems, deployed in dynamic environments, require flexible control mechanisms to meet the demands of chaotic state changes while accomplishing system goals. As centralized control approaches may falter in environments where centralized communication and knowledge may be impossible to implement, researchers have proposed decentralized control methods that leverage agent-driven, self-organizing behaviors, to achieve reliable, flexible systems. This article presents and compares the performance of three decentralized control approaches in the online multi-object k-assignment problem. In this domain, a set of sensors is tasked to detect and track an unknown and changing set of targets. Results show that a proposed hybrid approach that incorporates supervisory devices within the population while allowing semi-autonomous operations in non-supervisory devices produces a flexible and reliable system capable of both high detection and coverage rates.

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Cited By

Kwa HKit JHorsevad NPhilippot JSavari MBouffanais R(2023)Adaptivity: a path towards general swarm intelligence?Frontiers in Robotics and AI10.3389/frobt.2023.116318510Online publication date: 9-May-2023
https://doi.org/10.3389/frobt.2023.1163185
Frasheri MMiloradović BEsterle LPapadopoulos A(2023)GLocal: A Hybrid Approach to the Multi-Agent Mission Re-Planning Problem2023 IEEE Symposium Series on Computational Intelligence (SSCI)10.1109/SSCI52147.2023.10371893(1696-1703)Online publication date: 5-Dec-2023
https://doi.org/10.1109/SSCI52147.2023.10371893

Index Terms

Loosening Control—A Hybrid Approach to Controlling Heterogeneous Swarms
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Sensor networks
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory
  2. Distributed computing methodologies
    1. Distributed algorithms
      1. Self-organization

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Published In

cover image ACM Transactions on Autonomous and Adaptive Systems

ACM Transactions on Autonomous and Adaptive Systems Volume 16, Issue 2

June 2021

83 pages

ISSN:1556-4665

EISSN:1556-4703

DOI:10.1145/3514173

Editor:
Valérie Issarny
Inria, France

Issue’s Table of Contents

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 04 March 2022

Accepted: 01 November 2021

Revised: 01 October 2021

Received: 01 September 2020

Published in TAAS Volume 16, Issue 2

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Cited By

Kwa HKit JHorsevad NPhilippot JSavari MBouffanais R(2023)Adaptivity: a path towards general swarm intelligence?Frontiers in Robotics and AI10.3389/frobt.2023.116318510Online publication date: 9-May-2023
https://doi.org/10.3389/frobt.2023.1163185
Frasheri MMiloradović BEsterle LPapadopoulos A(2023)GLocal: A Hybrid Approach to the Multi-Agent Mission Re-Planning Problem2023 IEEE Symposium Series on Computational Intelligence (SSCI)10.1109/SSCI52147.2023.10371893(1696-1703)Online publication date: 5-Dec-2023
https://doi.org/10.1109/SSCI52147.2023.10371893

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