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群体机器人研究的现状和发展 总被引:3,自引:0,他引:3
随着机器人的应用方式由部件式单元应用向系统式应用方向发展,群体机器人系统的研究越来越多受到更多学者的重视。本文概述了群体机器人技术的发展历程,并对该领域内的主要研究内容作了简单的分析和介绍,提出了未来群体机器人系统的几个重要的研究方向。 相似文献
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基于IEEE1451的机器人网络感知系统研究 总被引:3,自引:0,他引:3
机器人所需要的多种传感器和执行器的兼容与接口问题日益突出.为降低建立和维护机器人感知系统的成本与复杂度,提高可靠性,本文基于智能化、网络化的设计思想.借助IEEE 1451智能变送器接口标准和现场总线技术,搭建了一个分布式、开放的机器人网络化感知系统。并针对传感器即插即用和传感器静、动态标定与性能评估等需求,详细介绍了感知系统的软硬件构成与网络接口设计。实测结果表明,系统运行稳定,实时性良好,为机器人实现更高级智能,完成更复杂任务提供了一个可靠的平台。 相似文献
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为了提高群体机器人系统的整体性能,受生物系统中普遍存在的交哺现象的启发,在原来多机器人系统的基本行为的基础上,提出了一种引入交哺行为的多机器人协作机制。机器人依靠有限的感知能力和局部交互功能,以自组织方式执行目标搜集任务。机器人的内部状态变量反映其执行任务的情况以及对环境和其他机器人的评价。比较机器人的内部状态变量,可以判断是否需要交哺和交哺的方向性。主要目的是减少机器人之间的冲突,降低系统能量消耗的同时,提高机器人搜集目标的效率。最后通过计算机仿真实验以及与其他多机器人协作方法比较,分析该方法对提高系统性能的有效性。 相似文献
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多机器人任务分配的研究与进展 总被引:1,自引:0,他引:1
从多机器人任务分配的类型、任务分配方法、任务的死锁与解除以及各种任务分配算法的对比等4个方面,对多机器人任务分配的最新研究进展进行了概述.分析了多机器人任务分配的发展趋势,指出动态环境和未知环境下大规模异构机器人任务分配问题的研究是必然趋势,在众多研究方法中,群体智能方法是解决该类问题的未来研究方向. 相似文献
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群智能理论及应用研究 总被引:6,自引:1,他引:6
群智能是一种由无智能或简单智能的个体通过任何形式的聚集协同而表现出智能行为。它为在没有集中控制且不提供全局模型的前提下寻找复杂的分布式问题求解方案提供了基础。目前,群智能已成为有别于传统人工智能中连接主义、行为主义和符号主义的一种新的关于智能的描述方法。论文对群智能理论的起源背景、发展及应用作了系统阐述,并对群智能与一般演化计算的异同作了深入分析。 相似文献
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群体智能是指无智能的或具有简单智能的个体通过协作表现出群体智能行为的特性,它在没有集中控制且不提供全局模型的前提下,为寻找复杂的分布式问题求解方案提供了基础。群体智能潜在的并行性和分布式特征使之成为计算机领域一个重要的研究方向。在介绍群体智能模型的基础上,分别对基于该模型的蚁群优化算法和粒子群优化算法这两类代表性算法进行较为详尽的归纳阐述并进行比较,最后就目前应用最为广泛的蚁群算法对群体智能的发展趋势进行展望。 相似文献
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《Applied Soft Computing》2007,7(3):1019-1026
Swarm intelligence (SI) is an innovative distributed intelligent paradigm whereby the collective behaviors of unsophisticated individuals interacting locally with their environment cause coherent functional global patterns to emerge. The intelligence emerges from a chaotic balance between individuality and sociality. The chaotic balances are a characteristic feature of the complex system. This paper investigates the chaotic dynamic characteristics in swarm intelligence. The swarm intelligent model namely the particle swarm (PS) is represented as an iterated function system (IFS). The dynamic trajectory of the particle is sensitive on the parameter values of IFS. The Lyapunov exponent and the correlation dimension are calculated and analyzed numerically for the dynamic system. Our research results illustrate that the performance of the swarm intelligent model depends on the sign of the maximum Lyapunov exponent. The particle swarm with a high maximum Lyapunov exponent usually achieves better performance, especially for multi-modal functions. 相似文献
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Editorial survey: swarm intelligence for data mining 总被引:1,自引:0,他引:1
This paper surveys the intersection of two fascinating and increasingly popular domains: swarm intelligence and data mining.
Whereas data mining has been a popular academic topic for decades, swarm intelligence is a relatively new subfield of artificial
intelligence which studies the emergent collective intelligence of groups of simple agents. It is based on social behavior
that can be observed in nature, such as ant colonies, flocks of birds, fish schools and bee hives, where a number of individuals
with limited capabilities are able to come to intelligent solutions for complex problems. In recent years the swarm intelligence
paradigm has received widespread attention in research, mainly as Ant Colony Optimization (ACO) and Particle Swarm Optimization
(PSO). These are also the most popular swarm intelligence metaheuristics for data mining. In addition to an overview of these
nature inspired computing methodologies, we discuss popular data mining techniques based on these principles and schematically
list the main differences in our literature tables. Further, we provide a unifying framework that categorizes the swarm intelligence
based data mining algorithms into two approaches: effective search and data organizing. Finally, we list interesting issues
for future research, hereby identifying methodological gaps in current research as well as mapping opportunities provided
by swarm intelligence to current challenges within data mining research. 相似文献
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Swarm intelligence based routing protocol for wireless sensor networks: Survey and future directions
Swarm intelligence is a relatively novel field. It addresses the study of the collective behaviors of systems made by many components that coordinate using decentralized controls and self-organization. A large part of the research in swarm intelligence has focused on the reverse engineering and the adaptation of collective behaviors observed in natural systems with the aim of designing effective algorithms for distributed optimization. These algorithms, like their natural systems of inspiration, show the desirable properties of being adaptive, scalable, and robust. These are key properties in the context of network routing, and in particular of routing in wireless sensor networks. Therefore, in the last decade, a number of routing protocols for wireless sensor networks have been developed according to the principles of swarm intelligence, and, in particular, taking inspiration from the foraging behaviors of ant and bee colonies. In this paper, we provide an extensive survey of these protocols. We discuss the general principles of swarm intelligence and of its application to routing. We also introduce a novel taxonomy for routing protocols in wireless sensor networks and use it to classify the surveyed protocols. We conclude the paper with a critical analysis of the status of the field, pointing out a number of fundamental issues related to the (mis) use of scientific methodology and evaluation procedures, and we identify some future research directions. 相似文献
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一种基于群体智能的Web文档聚类算法 总被引:31,自引:0,他引:31
将群体智能聚类模型运用于文档聚类,提出了一种基于群体智能的Web文档聚类算法,首先运用向量空间模型表示Web文档信息,采用常规方法如消除无用词和特征词条约简法则得到文本特征集,然后将文档的向量随机分布到一个平面上,运用基于群体智能的聚类方法进行文档聚类,最后从平面上采用递归算法收集聚类结果,为了改善算法的实用性,将原算法与k均值算法结合提出一种混合聚类算法,通过实验比较,结果表明基于群体智能的Web文档聚类算法具有较好的聚类特性,它能将与一个主题相关的Web文档较完全而准确地聚成一类。 相似文献
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群智能是指众多行为简单的个体在相互作用过程中涌现产生的整体智能行为,劳动分工是其最重要特征之一.本文首先根据个体与个体、个体与环境的交互模式,给出群智能劳动分工的一个框架描述,分析其个体专职化、角色可塑性和自组织等特性.然后从自组织的角度对激发-抑制、刺激-响应、个体排序和寻觅工作等四类劳动分工模型进行对比分析,旨在归纳提炼群智能自组织劳动分工模型的构建规律.进而结合群智能自组织劳动分工的应用情况,针对其适用范围和求解思路进行了评述和讨论.最后从劳动分工机制、劳动分工模型、分配问题求解和优化问题求解四个方面展望了群智能自组织劳动分工的发展前景. 相似文献
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Collective intelligence has been an important research topic in many AI communities. With The big data phenomenon, we have been facing on many research problems on how to integrate the big data with collective intelligence. This special issue has selected 9 high quality papers covering various research issues. 相似文献