Reciprocal Altruism-based Path Planning Optimization for Multi-Agents

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2022

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Institute of Electrical and Electronics Engineers Inc.

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Mechatronics Engineering
(2002)
The Atılım University Department of Mechatronics Engineering started its operation in 2002 as the Education Program in Mechatronics Engineering holding a “department” status in Turkey. In addition, it is the first and the only institution for mechatronic engineering education to obtain a MÜDEK (Association for Evaluation and Accreditation of Engineering Programs) accreditation for a duration of 5 years. Mechatronics engineering is a discipline of engineering that combines mechanical, electrical and electronic engineering and software technologies on a machine or a product. These features place the field on a pedestal in today’s industry. The education at our department is also backed by substantial laboratory opportunities. Our students create interesting products of their skills and creativity for their dissertation projects. Should they wish to do so, our students may also proceed with a double-major program in the fields of Computer Engineering, Electrical - Electronics Engineering, Industrial Engineering, or Mechanical, Automotive or Software Engineering. Upon their demands, the Department of Mechatronic Engineering also offers a “Cooperative Education” program implemented in coordination with industrial institutions. Students receiving a portion of their training at industrial institutions and prepare for professional life under this program
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Department of Mechatronics Engineering
Our purpose in the program is to educate our students for contributing to universal knowledge by doing research on contemporary mechatronics engineering problems and provide them with design, production and publication skills. To reach this goal our post graduate students are offered courses in various areas of mechatronics engineering, encouraged to do research to develop their expertise and their creative side, as well as develop analysis and design skills.

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This paper investigates solutions for the fundamental yet challenging problem of path planning of autonomous multi-agents. The novelty of the proposed algorithm, reciprocal altruism-based particle swarm optimization (RAPSO), lies in the introduction of information sharing among the agents. The RAPSO utilizes kinship relatedness among the agents during the optimization process to reciprocate the significant data. The concept of reciprocation is introduced to ensure that all agents remain in close contact through information exchange. The amount of exchange depends upon their physical location in the search space and their associated health indicator. Agents are classified as donors, recipients, or un-active concerning their health indicator and their positions. The ability of RAPSO to keep all agents closer to local optima through reciprocal altruism is evaluated for path planning optimization problem. Simulation results show that the RAPSO is very competitive when compared with the canonical PSO. The results of the generalized simulation scenario also prove its potential in solving path planning problems in robotics. © 2022 IEEE.

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multi-agents, particle swarm optimization, path planning, reciprocal altruism, robotics

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2

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HORA 2022 - 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings -- 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- Ankara -- 180434

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https://doi.org/10.1109/HORA55278.2022.9799828
 https://hdl.handle.net/20.500.14411/4080

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Scopus