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dc.contributor.authorKhaldi, Belkacem
dc.contributor.authorHarrou, Fouzi
dc.contributor.authorCherif, Foudil
dc.contributor.authorSun, Ying
dc.date.accessioned2019-07-31T13:48:50Z
dc.date.available2019-07-31T13:48:50Z
dc.date.issued2019-07-23
dc.identifier.citationKhaldi, B., Harrou, F., Cherif, F., & Sun, Y. (2019). Flexible and Efficient Topological Approaches for a Reliable Robots Swarm Aggregation. IEEE Access, 7, 96372–96383. doi:10.1109/access.2019.2930677
dc.identifier.doi10.1109/ACCESS.2019.2930677
dc.identifier.urihttp://hdl.handle.net/10754/656274
dc.description.abstractAggregation is a vital behavior when performing complex tasks in most of the swarm systems such as swarm robotics systems. In this paper, three new aggregation methods, namely the Distance-Angular, the Distance-Cosine, and the Distance-Minkowski k-nearest neighbor (k-NN) have been introduced. These aggregation methods are mainly built on well-known metrics: the Cosine, Angular and Minkowski distance functions, which are used here to compute distances among robots neighbors. Relying on these methods, each robot identifies its k nearest neighborhood set that will interact with. Then in order to achieve the aggregation, the interactions sensing capabilities among the set members are modeled using a virtual viscoelastic mesh. Analysis of the results obtained from the ARGoS simulator shows a significant improvement in the swarm aggregation performance while compared to the conventional distance-weighted k-NN aggregation method. Also, the aggregation performance of the methods is reported to be robust to partially faulty robots and accurate under noisy sensors.
dc.description.sponsorshipThe authors (Belkacem Khaldi and Foudil Cherif) would like to thank the LESIA Laboratory, Department of Computer Science, University of Mohamed Khider,Biskra, Algeria for the continued support during the research. This work is supported by the King Abdullah University of Science and Technology (KAUST) Office of Sponsored Research (OSR) under Award No: OSR-2019-CRG7-3800.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urlhttps://ieeexplore.ieee.org/document/8769830/
dc.relation.urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8769830
dc.rightsThis is under the open access.
dc.subjectSwarm Robotics
dc.subjectSelf-organized aggregation
dc.subjectmathitk-NN
dc.subjectVirtual viscoelastic mesh
dc.subjectDistance metrics
dc.subjectPartially faulty robots
dc.titleFlexible and Efficient Topological Approaches for a Reliable Robots Swarm Aggregation
dc.typeArticle
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentStatistics
dc.contributor.departmentStatistics Program
dc.identifier.journalIEEE Access
dc.eprint.versionPost-print
dc.contributor.institutionLESIA Laboratory, Department of Computer Science, University of Mohamed Khider, R.P. 07000 Biskra, Algeria.
kaust.personHarrou, Fouzi
kaust.personSun, Ying
kaust.grant.numberOSR-2019-CRG7-3800
refterms.dateFOA2019-07-31T13:49:36Z
kaust.acknowledged.supportUnitOffice of Sponsored Research
dc.date.published-online2019-07-23
dc.date.published-print2019


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