Analysis of Evolved Response Thresholds for Decentralized Dynamic Task Allocation

06/10/2021
by   H. David Mathias, et al.
0

We investigate the application of a multi-objective genetic algorithm to the problem of task allocation in a self-organizing, decentralized, threshold-based swarm. Each agent in our system is capable of performing four tasks with a response threshold for each, and we seek to assign response threshold values to all of the agents a swarm such that the collective behavior of the swarm is optimized. Random assignment of threshold values according to a uniform distribution is known to be effective; however, this method does not consider features of particular problem instances. Dynamic response thresholds have some flexibility to address problem specific features through real-time adaptivity, often improving swarm performance. In this work, we use a multi-objective genetic algorithm to evolve response thresholds for a simulated swarm engaged in a dynamic task allocation problem: two-dimensional collective tracking. We show that evolved thresholds not only outperform uniformly distributed thresholds and dynamic thresholds but achieve nearly optimal performance on a variety of tracking problem instances (target paths). More importantly, we demonstrate that thresholds evolved for one of several problem instances generalize to all other problem instances eliminating the need to evolve new thresholds for each problem to be solved. We analyze the properties that allow these paths to serve as universal training instances and show that they are quite natural.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 10

02/09/2016

A Feature-Based Prediction Model of Algorithm Selection for Constrained Continuous Optimisation

With this paper, we contribute to the growing research area of feature-b...
08/03/2020

Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking

Current strategies employed for maritime target search and tracking are ...
07/09/2019

Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response

Multiple robotic systems, working together, can provide important soluti...
06/25/2021

Improving Human Decisions by Adjusting the Alerting Thresholds for Computer Alerting Tools According to User and Task Characteristics

Objective: To investigate whether performance (number of correct decisio...
11/06/2019

Asymptotic Analysis Based Greedy Method for Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs

We consider the optimal multi-agent persistent monitoring problem define...
11/06/2019

Asymptotic Analysis for Greedy Initialization of Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs

We consider the optimal multi-agent persistent monitoring problem define...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.