Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes

Jongeun Choi, Joonho Lee, Songhwai Oh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

This paper presents a novel class of self-organizing sensing agents that form a swarm and learn the static spatial process of interest through noisy measurements from neighbors for various global goals. The spatial phenomenon of interest is modeled by a Gaussian process. Each sensing agent maintains its own prediction of the Gaussian process based on measurements from neighbors. A set of biologically inspired navigation strategies are derived by exploiting the predictive posterior statistics. A unified way to prescribe a global goal for the group of agents so that a high-level behavior builds on a set of low-level simple behavior modules. As a result, collective mobility of agents emerges from a specified global goal. The proposed cooperatively learning control consists of motion coordination based on the recursive estimation of an unknown field of interest with measurement noise. The convergence properties of the proposed coordination algorithm for different situations and global goals are investigated by a simulation study.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Fingerprint

Navigation
Statistics
Swarm intelligence

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Choi, J., Lee, J., & Oh, S. (2008). Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.1102
Choi, Jongeun ; Lee, Joonho ; Oh, Songhwai. / Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes. Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1).
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Choi, J, Lee, J & Oh, S 2008, Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 08/7/6. https://doi.org/10.3182/20080706-5-KR-1001.1102

Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes. / Choi, Jongeun; Lee, Joonho; Oh, Songhwai.

Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1. ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Choi J, Lee J, Oh S. Biologically-inspired navigation strategies for swarm intelligence using spatial Gaussian processes. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 ed. 2008. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.1102