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dc.contributor.authorKwa, Hian Lee
dc.contributor.authorTokic, Grgur
dc.contributor.authorBouffanais, Roland
dc.contributor.authorYue, Dick KP
dc.date.accessioned2022-01-27T13:50:31Z
dc.date.available2022-01-27T13:50:31Z
dc.date.issued2020
dc.identifier.urihttps://hdl.handle.net/1721.1/139763
dc.description.abstractCurrent strategies employed for maritime target search and tracking are primarily based on the use of agents following a predetermined path to perform a systematic sweep of a search area. Recently, dynamic Particle Swarm Optimization (PSO) algorithms have been used together with swarming multi-robot systems (MRS), giving search and tracking solutions the added properties of robustness, scalability, and flexibility. Swarming MRS also give the end-user the opportunity to incrementally upgrade the robotic system, inevitably leading to the use of heterogeneous swarming MRS. However, such systems have not been well studied and incorporating upgraded agents into a swarm may result in degraded mission performances. In this paper, we propose a PSO-based strategy using a topological k-nearest neighbor graph with tunable exploration and exploitation dynamics with an adaptive repulsion parameter. This strategy is implemented within a simulated swarm of 50 agents with varying proportions of fast agents tracking a target represented by a fictitious binary function. Through these simulations, we are able to demonstrate an increase in the swarm's collective response level and target tracking performance by substituting in a proportion of fast buoys.en_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionof10.1109/IEEECONF38699.2020.9389145en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourcearXiven_US
dc.titleHeterogeneous Swarms for Maritime Dynamic Target Search and Trackingen_US
dc.typeArticleen_US
dc.identifier.citationKwa, Hian Lee, Tokic, Grgur, Bouffanais, Roland and Yue, Dick KP. 2020. "Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking." Global Oceans 2020: Singapore – U.S. Gulf Coast.
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineering
dc.relation.journalGlobal Oceans 2020: Singapore – U.S. Gulf Coasten_US
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2022-01-27T13:47:06Z
dspace.orderedauthorsKwa, HL; Tokic, G; Bouffanais, R; Yue, DKPen_US
dspace.date.submission2022-01-27T13:47:08Z
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusAuthority Work and Publication Information Neededen_US


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