artificial intelligence for self-assembling swarm units in a dynamic environment - research proposal

8/19/2019 Artificial Intelligence for Self-Assembling Swarm Units in a Dynamic Environment - Research Proposal

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ARTIFICIAL INTELLIGENCE FOR ONLINE TRACKING OF

SELF-ASSEMBLING SWARM UNITS IN

A DYNAMIC ENVIRONMENT

Thesis Topic Propos!

B"

Lore#$o D% &'!!

A('iser) Pro*% +(eric, P% Pico

U#i'ersi." o* .he Phi!ippi#es Los B/os

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I% INTRODUCTION

Wi.h .he e0er1i#1 .ech#o!o1" #( i##o'.io# .h. h20#i." hs chie'e( si#ce .he

(e'e!op0e#. o* .he *irs. co0p2.er 2p .o .he rece#. ('#ce0e#.s i# .he *ie!( o* r.i*ici!

i#.e!!i1e#ce3 .he pro!i*er.io# *or hi1her spir.io#s i# h20# chie'e0e#.s is 42s. o#!"

e1i##i#1% The po.e#.i! 2se o* r.i*ici! i#.e!!i1e#ce i# o2r socie." .hro21h roo.ics hs #o5

eco0e .#1i!e% Ar.i*ici! i#.e!!i1e#ce 6s ci.e( i# Ge#esere.h #( Ni!sso#3 789:;7 i(e is .o re, (o5# !r1e .s, i#.o

si0p!er s2.s,s i# or(er .o chie'e cer.i# 1o!% A# e?0p!e *or .his is .he se!*-reco#*i12ri#1

0o(2!r roo.s% These si( roo.s co2!( sse0!e .he0se!'es i# pr.ic2!r 0##er% S5r0

Roo.ics is io!o1ic!!" i#spire( pproch .h. (e!s 5i.h .he or1#i$.io# #( co#.ro! o*

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1ro2ps o* roo.s% I.s io!o1ic! i#spir.io# is 0i#!" (r5# *ro0 soci! i#sec.s3 2. !so *ro0

her(i#1 #( *!oc,i#1 phe#o0e# i# 000!s #( *ish ;@s

eh'ior i# ("#0ic e#'iro#0e#.3 s5r0 roo.s 5i!! #o. e pro'i(e(3 i#s.e(3 .he s"s.e0 5i!!

e (e'e!ope( 2si#1 # 1e#.-se( pro1r00i#1 !#121e% Accor(i#1 .o Trc"3 1e#.-se(

pro1r00i#1 is ."pe pro1r00i#1 .h. 2ses 1e#.s s sic 2#i.3 r.her .h# o4ec.3 s i#

o4ec.-orie#.e( pro1r00i#1% The i#.e#. o* 1e#. orie#.e( pro1r00i#1 is .o pro'i(e #

e#'iro#0e#. i# 5hich pro1r00i#1 1e#.s #( 2i!(i#1 1e#.s c# i#.erc. 5i.h o#e #o.her ;7


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po'er."3 h2#1er3 (e. #( 2##ecessr" h20# s2**eri#1 re 'ie5e( #o. o#!" s 'oi(!e3

2. s .o.!!" 2#ccep.!e ;


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% To (esi1# # !1ori.h0 *or p..er# p!##i#1 o* s5r0 2#i.s i# or(er .o 2.i!i$e 1o!

priori.i$.io# #( 02!.i-.rc,i#1 o* 1e#.s%

B. Scope and Limitation of the Study

The s.2(" 5i!! (isc2ss .he !1ori.h0 2se( .o i0p!e0e#. .he o#!i#e p.h p!##i#1 o* .he

s5r0 1e#.s i# .he pp!ic.io#% The e?pec.e( o2.p2. is # sse0!e( 1e#.s se( o# .he prese.

(4ce#c" p..er#% The !1ori.h0s re i.er.e( per .i0e .ic, i# .he pro1r03 .h2s3 e#!i#1

s"#chro#i$e( .hi#,i#1 o* .he 1e#.s #( 1i'i#1 .he0 priori.i$.io#% Pssi'e os.r2c.io#s re

i#i.i!i$e( . .he s.r. o* .he pro1r0% Ac.i'e os.r2c.io#s c# e i#i.i!i$e( or cre.e( (2ri#1 .he

r2#-.i0e o* .he pro1r0% A# c.i'e os.r2c.io# !so 0o'es *ree!" . r#(o0 (irec.io#s 2. 'oi(s

o'er!ppi#1 o.her os.r2c.io#s% The e#'iro#0e#. 5i!! e (esi1#e( i# .5o-(i0e#sio#! 6@D=

i#.er*ce .o e#!e p..er# co#s.r2c.io#% The ss20p.io#s o* .he pro1r0 re .he *o!!o5i#1)

7% A1e#. hs i.s o5# se#se o* e#'iro#0e#. #( co002#ic.es 5i.h o.her 1e#.s

@% The se re o* .he e#'iro#0e#. is i# s0oo.h p!#e%

% A1e#. c# se#se .he pssi'e os.r2c.io#s . .he s.r. o* .he pp!ic.io#%

% A1e#. is .re.e( s c2e 0o(2!r 2#i.s #( hs se#se o* (irec.io#

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o5e'er3 .he pro1r0 is #o. co#cer# o2. .he 0es2res o* errors o# s!ipp1e #( o# re!

5or!( roo.ic 0o.io#s% The s"s.e0 5i!! e *oc2se( .he 0os. o# (e'e!opi#1 i#.e!!i1e#. s5r0 #(

0o(2!r roo.ics eh'ior%

C. Date and Place of the Study

The reserch 5i!! e co#(2c.e( . .he U#i'ersi." o* .he Phi!ippi#es Los B/os #( 5i!! e

co#.i#2e( .his co0i#1 seco#( se0es.er o* AY @H7-@H7 .o 0i("er o* AY @H7-@H7%

II% REVIEW OF RELATED LITERATURE

Pos(s (esi1#e( # r.i*ici! i#.e!!i1e#ce *or re!-.i0e o4ec. .rc,i#1 o* roo. i#

("#0ic e#'iro#0e#.% The s"s.e0 2ses i01e processi#1 .ech#i2es .o cp.2re #( #!"$e

*r0es cp.2re( " c0er .o h'e re!-.i0e o4ec. .rc,i#1% I.s p2rpose is .o *i#( p.h *or

0oi!e roo. #( 'oi( co!!isio#s 2#.i! .he roo. rech i.s 1o! (2ri#1 re!-.i0e .es. i#

("#0ic e#'iro#0e#.% o5e'er3 0oi!e roo. 5s #o. pro'i(e( i# .he s.2(" #( s.i!!

represe#..io# o* roo. 5s 1i'e#% The s.eps i# Fi12re 7 5s pp!ie( *or .he c2rre#. *r0e o*

.he pro1r0 #( 5i!! e i.er.e( i# .he s2se2e#. *r0es .o chie'e re!-.i0e o4ec. .rc,i#1

2#.i! .he 2ser s.oppe( .he .rc,i#1 process or e?i.e( .he pp!ic.io# ;


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Fi1% 7) Pos(s> O'er'ie5 o* Ar.i*ici! I#.e!!i1e#ce

I# or(er .o .rc, # o4ec. 2si#1 i01e processi#13 Pos(s 2se( Ope#CV>s Me#shi*.

#( C0shi*. !1ori.h0s% The Me#shi*. !1ori.h0 2se( i# .he pro1r0 c# (e.ec. .he ce#.er o*

.he roo.% S2ppose 'ec.or 5hose i#i.i! poi#. is R #( .er0i#! poi#. is W% The #1!e i# (e1rees

6J= c# e co0p2.e( 2si#1 E2.io# 7 ;


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67= θ = actan

Wx− RxWy− Ry

¿= (

180

π )

O#e o* .he *e.2re( .ech#i2es 2se( i# .he s.2(" o* Pos(s is .he o4ec. *2.2re posi.io#

es.i0.io#% Accor(i#1 .o Pos(s3 i# or(er .o es.i0.e .he *2.2re posi.io# o* .he o4ec. ei#1

.rc,e(3 i.s spee(3 cce!er.io#3 #( (irec.io# 02s. e co#si(ere(% The spee( o* .he o4ec. v is

co0p2.e( 2si#1 i.s (is.#ce .r'e!!e( d o'er .i0e .r'e!!e( t 6E% @=% The (is.#ce .r'e!!e( is

co0p2.e( 2si#1 .he E2c!i(e# (is.#ce e.5ee# .he posi.io# i# .he pre'io2s *r0e #( .he

posi.io# i# .he c2rre#. *r0e% The cce!er.io# o* .he o4ec. a is co0p2.e( 2si#1 E2.io#

5here v0 is .he i#i.i! or pre'io2s 'e!oci."% Ne?.3 .he (is.#ce .o e .r'e!!e( " .he o4ec. .o

rech i.s *2.2re posi.io#3 ! is co0p2.e( 2si#1 E2.io# % ;<

6@= v =d

t

"#$ a =v−v

0

t

6= ! = v0 t %a t

2

t

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To (e.er0i#e .he (irec.io# o* .he o4ec. 5hi!e .r'e!!i#13 co#si(er i.s c2rre#. posi.io#

6 xt , y t = #( pre'io2s posi.io# 6 x t −1, y t −1 =% To es.i0.e 6 x t +1, y t +1 ¿ 3 !e. V →

e 'ec.or

.h. hs # i#i.i! poi#. 6 x t −1, y t −1 = #( .er0i#! poi#. 6 x t , y t =% Ass20e circ!e is

i#.ersec.e( " V →

5here .he ce#.er o* .he circ!e is .he i#i.i! poi#. o* V →

% Le. ! % d e .he

r(i2s o* .he circ!e% The i#.ersec.io# o* .he 'ec.or #( .he circ!e is .he poi#. ( x t +1, y t +1) % 6Fi1% @=

S2ppose E2.io# is .he e2.io# o* .he circ!e 5here "h&'$3 is .he ce#.er #( is .he r(i2s%

Fi1% @) A circ!e i#.ersec.e( " V →

% The ce#.er o* .he circ!e is .he i#i.i! poi#. o* V →

%

9


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"($ ( x−h)2

% ( y−k )2

= r2

The poi#.s !o#1 .he !i#e *ro0 6 x t , y t = .o 6 x t +1, y t +1¿ 5i!! e 1i'e# i# pr0e.ric

*or0 ")

6= !"u$ =

x

(¿¿ t − xt −1)¿

u % x t

6:= y"u$ =

y

(¿¿ t − yt −1)¿

u % y t

5here u is re! #20er% Those poi#.s s.ric.!" e.5ee# 6 x t , y t = #( 6 x t +1, y t +1 ¿ correspo#(

.o '!2es ) u * )% I* 5e s2s.i.2.e ! #( y o* .he pr0e.eri$e( e?pressio#s i# .he e2.io# o*

.he circ!e3 5e 1e. 2(r.ic e2.io# i# u. 6E% 9=%

69=

x

h

(¿¿ t − xt −1)u+ x t −¿¿¿¿

y

h

(¿¿ t − y t −1)u+ y t −¿¿¿¿

r2

A*.er co!!ec.i#1 .er0s 5e h'e re! 2(r.ic e2.io#)

68= a u2

% bu % c = )

5here)

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"+)$ a =

x¿¿¿

%

y¿¿¿

"++$ b = ,

x

x(¿¿ t −h)

(¿¿ t − x t −1)¿¿

%,

y

y(¿¿ t −k )

(¿¿ t − yt −1)¿¿

"+,$ c = ( x−h)2

% ( y−k )2

−¿ r2

#( .he roo.s *or u 0" e *o2#( i# .he 2s2! 2(r.ic *or0)

67= u=−b±√ b2−4 ac

2a

To o.i# .he *2.2re posi.io# o* .he o4ec.3 s2s.i.2.e .he posi.i'e roo. u .o E2.io#s

#( :% ;<

67= x t +1= x(u)

67= yt +1= y (u)

The !s. .ech#i2e .h. 5s 2se( i# Pos(s> s.2(" is .he p.h *i#(i#1% Co#*i12r.io#

spce is .he 0i# ,e" i# or(er .o serch *or cer.i# p.h% Accor(i#1 .o Pos(s3 6s ci.e( i#

LV!!e3 @HH ;


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.r#s*or0.io#s .h. co2!( e pp!ie( .o .he roo.% The 0i# !1ori.h0 .h. 5s 2se( i# .he s.2("

is Aserch !1ori.h0 i# or(er .o *i#( .he shor.es. p.h .o .he 1o!%

A**i#e .r#s*or0.io#s re .he ,e" i# or(er .o 0#ip2!.e D o4ec.s% Accor(i#1 .o W..3

.hree-(i0e#sio#! **i#e .r#s*or0.io#s re .he .r#s*or0.io#s .h. **ec. ro..io#3 sc!i#13

sher3 #( .r#s!.io#% A# **i#e .r#s*or0.io# c# e represe#.e( " 0.ri? #( se. o* **i#e

.r#s*or0.io#s c# e co0i#e( i#.o si#1!e o'er!! **i#e .r#s*or0.io#% Tech#ic!!"3 5e s"

.h. # **i#e .r#s*or0.io# is 0(e 2p o* #" co0i#.io# o* !i#er .r#s*or0.io#s 6ro..io#3

sc!i#1 #( sher= *o!!o5e( " .r#s!.io#% ;<

I# co0p2.er 1rphics3 0.ri? #o..io# is 2se( .o (escrie .r#s*or0.io#s% Usi#1 0.ri?

#o..io# poi#. V is .r#s*or0e( 2#(er .r#s!.io#3 sc!i#1 #( ro..io# s)

- = - % D

- = -S

- = -/

Where D is .r#s!.io# 'ec.or #( S #( / re sc!i#1 #( ro..io# 0.rices% ;<

O# # 2.o0.e( pro(2c.io# poi#. o* 'ie5 i# roo.ics3 p!##i#1 is # i0por.#. *c.or i#

or(er .o chie'e 1o!% Accor(i#1 .o Schi!!i#13 p!##i#1 . .his !e'e! is re*erre( .o s .s,

12


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p!##i#1% Ts, p!##i#1 is co#cer#e( 0ore 5i.h .he 1e#er! 1o!s o* .he 0#ip2!.io# .s, .h#

5i.h speci*ic 0e#s 2se( .o chie'e .hese 1o!s ;


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Fi1% ) Tr#s!.io# o* D o4ec. ;:<

Voro#oi (i1r0 6Fi1% = is .ech#i2e 2se( *or p.h p!##i#1 5hich !e.s 0oi!e roo.

re0i# . e2! (is.#ce *ro0 i.s .5o #er os.c!e 0,i#1 i. possi!e .o #'i1.e e.5ee# .he0

;


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Fi1% ) The Voro#oi (i1r0 is sho5# i# !2e3 i#.ersec.io#s re i# 1ree# #( os.c!es re i# re(%

;77<

Fi1% ) Voro#oi Di1r0 P.h 5i.hi# .he co#*i12r.io# spce 6i#i.i! s..e .o 1o! s..e= ;<

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Fi1% ) Wi(e p.h 0o.io# he2ris.ic p.h p!##i#1 ;<

The Mssch2se..s I#s.i.2.e o* Tech#o!o1" (esi1#e( 0o(2!r roo. c2es .h. c# se!*-

sse0!e 6Fi1% :=% I. 5s (esi1#e( .o per*or0 .s,s " ch#1i#1 .heir 1eo0e.r" i#.o (i**ere#.

*or0s% The roo. 5s (esi1#e( 5i.h #12!r 0o0e#.20% I. hs spi##i#1 0ss i#si(e 5hich

!!o5s 0o'e0e#. o* .he roo. i#.o #" posi.io#% The 01#e.s o# .he c2es re o#e o* i.s ,e"

*e.2res% I. hs *ce 01#e.s o# i.s s2r*ces .h. pro'i(e co2rse !i1#0e#. #( ro..i#1 e(1e

01#e. 5hich !!o5s ..ch0e#.s .o o.her c2es 5hi!e ro..i#1 .o #o.her posi.io#% A#o.her

*e.2re o* .he c2es is .he i!i." o* 420pi#1 i#.o posi.io#s " 1i'i#1 e#o21h 0o0e#.20 i#si(e

.he roo.% This *e.2re !!o5s roo.s .o 1o o# .op o* o#e #o.her #( 1o .o p!ces 5i.h cer.i#

rriers% C2rre#.!"3 .he roo.s 5ere co#.ro!!e( " (e'e!opers .h. se#( co00#(s *ro0 .he

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co0p2.er " 5ire!ess .r#s0i..er i#s.!!e( i#si(e o* .he 2#i.s .o .he roo.s% The i#s.i.2.e

e#'isio#s p2..i#1 .he !1ori.h0 i#.o 0o(2!es so .h. .he" c# 2.o#o0o2s!" sse0!e

.he0se!'es% ;9<

Fi1% :) Mo(2!r c2es .h. c# se!*-sse0!e ;9<

III% Me.ho(o!o1"

A% De'e!op0e#. .oo!s

Ne.!o1o is # 1e#.-se( pro1r00i#1 !#121e 5hich is 5e!! s2i.e( *or 0o(e!i#1 co0p!e?

s"s.e0s% Mo(e!ers c# 1i'e i#s.r2c.io#s .o h2#(re(s or .ho2s#(s o* 1e#.s !! oper.i#1

i#(epe#(e#.!"% This 0,es i. possi!e .o e?p!ore .he co##ec.io# e.5ee# .he 0icro-!e'e!

eh'ior o* i#(i'i(2!s #( .he 0cro-!e'e! p..er#s .h. e0er1e *ro0 .heir i#.erc.io#% Ne.!o1o

17

https://www.youtube.com/watch?v=6aZbJS6LZbshttps://www.youtube.com/watch?v=6aZbJS6LZbs


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5s 2.hore( " Uri Wi!e#s," i# 7888 #( hs ee# i# co#.i#2o2s (e'e!op0e#. e'er si#ce . .he

Ce#.er *or Co##ec.e( Ler#i#1 #( Co0p2.er-Bse( Mo(e!i#1% ;8<

B% S"s.e0 Archi.ec.2re

The s"s.e0 5i!! e (esi1#e( i# @D e#'iro#0e#. 5hich 5i!! e se( o# .he

Cr.esi# coor(i#.e s"s.e0% A1e#.s 5i!! e .re.e( s c2es 5hich c# ..ch .heir s2r*ce pr.s

o#.o o.her 1e#.s% A1e#.s c# r#(o0!" e p!ce( o# .he p!#e or se. i#.o speci*ic poi#. i# .he

p!#e% Os.r2c.io#s 5i!! e pro'i(e( #( 5i!! e c!ssi*ie( i#.o pssi'e or c.i'e% Ac.i'e

os.r2c.io#s c# ro0 *ree!" 5i.h .he res.ric.io# o* o'er!ppi#1 #( co!!i(i#1 5i.h o.her

os.r2c.io#s% The @D .op 'ie5 o* .he s"s.e0 5i!! e .he co#*i12r.io# spce *or .he 1e#.s .o e

e0p!o"e(%

The 0i# co#cer# o* .he pro1r0 is .he eh'ior o* .he 1e#.s c.i#1 o# .he @D poi#. o* 'ie5

o* .he pro1r0 2si#1 .heir r.i*ici! i#.e!!i1e#ce 0e.ho(s% For *2r.her i0p!ic.io#s3 .he pro1r0

5i!! e .r#s!.e( i# D e#'iro#0e#.% D .r#s!.io#s 5i!! e co#(2c.e( 5he# .he 1e#.s rech

.he seco#( !e'e! o* .he D prese. p..er#s 2#.i! .he" *2!!" co#s.r2c.e( .he prese. 0o(e!% Wi.h .his3

.hree-(i0e#sio#! co#s.r2c.io# o* o4ec.s 5i!! e e#!e(% The !1ori.h0 '!2es 5i!! e

co#'er.e( i#.o 7 2#i. o* (is.#ce 5he# .he se o* .he prese. 0o(e! 5s co#s.r2c.e( i# 5hich

18


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1e#.s sho2!( ..ch .he0se!'es o# .he se D p..er# i# or(er .o c!i0 2p o# .op o* o.hers #(

..ch .o o.her 1e#.s% The p.h *i#(i#1 !1ori.h0 o# .he prese. p..er# 5i!! e (i**ere#. (2e .o

res.ric.io# o* 0o'e0e#.s #( .he 0#ip2!.io# i# D poi#. o* 'ie5% I# cse o* co#c2rre#.

1e#.s pprochi#1 si#1!e s2-1o!3 1e#.>s eh'ior 5i!! h'e priori.i$.io# o# 5hich 1e#.

sho2!( 1o *irs. o# # 2p(.e( 1o! o* .he prese. p..er#% Wi.h .his eh'ior3 # !.r2is0 *c.or

5i!! e 2.i!i$e( 5i.h .he eh'ior o* .he 1e#.s% A!.r2is0 is .he e!ie* i# or prc.ice o*

(isi#.eres.e( #( se!*!ess co#cer# *or .he 5e!!-ei#1 o* o.hers ;7


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A1e#.s h'e se#se o* (irec.io# #( sho2!( 2#(er1o 5i.h ro..io#s *or p.h #( 0o.io#

p!##i#1% See E2.io# 7 *or .he ro..io# *or02! .h. 5i!! e 2se( *or co0p2.i#1 6J=)

67= θ = actan

Wx− RxWy− Ry

¿= (

180

π )

Fi1% 9) A 'ec.or 5hose i#i.i! poi#. is R #( .er0i#! poi#. W

Wherei# R is .he ce#.er poi#. o* .he 1e#. #( W is .he .er0i#! poi#.%

D% Prese.-o4ec. p..er#s

+$ Atomic 3ucleus Based Desi2n

I# or(er .o chie'e p..er# co#cer#i#1 .he p!##i#1 o* ..ch0e#.s o* .he 1e#.s3 .he (esi1#

.h. 5i!! e 2se( 5i!! e se( o# .he .o0ic #2c!e2s% The .o0ic #2c!e2s is .i#" 0ssi'e e#.i."

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. .he ce#.er o* .he .o0 ;7H


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#2c!e2s 6Fi1%77=% The so-c!!e( #2c!e2s 1e#. 5i!! e .he *irs. .o 2p(.e .he ..ch!e si(es *or

o.her s5r0 2#i.s 6Fi1%7@=% The #2c!e2s se( 0o(e! co#.i#2o2s!" 2p(.es .he ..ch!e si(es

5here o.her s5r0 2#i.s c# e ..che( 2#.i! .he (esire( p..er# is chie'e( 6Fi1% 7=%

Fi1% 8 )A1e#.s re p!ce( r#(o0!" o# .he p!#e

Fi1% 7H ) The prese. 0o(e! is p!o..e( i# .he p!#e% Gree# i#(ic.es ..ch!e si(e% Ye!!o5i#(ic.es ..ch!e si(es .o e 2p(.e(%

22


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Fi1%77 ) Neres. 1e#. 5i!! .r'e! .o .he ..ch!e si(e%

Fi1% 7@) Neres. 1e#. rech .he 1o! #( 2p(.es ..ch!e si(es% Neres. 2#i. c# ..ch .o

#eres. ..ch!e si(e%

23


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Fi1% 7) A#o.her 2#i. ..che( .o .he #2c!e2s #( 2p(.es .he ..ch!e si(e%

Fi1% 7) Go! s..e o* .he 1e#.s%

,$ Patten plannin2 usin2 adjacency mati!

The ss20p.io# o# .his 0o(e! is .h. !! 1e#.s h'e .he ,#o5!e(1e o* .he p..er#% Si#ce .he

1e#.s c# co002#ic.e3 # 1e#. c# repor. .o o.her 1e#.s .he speci*ic s2-1o!s .h. re

!re(" *2!*i!!e(% The p..er# 5i!! e (esi1#e( o# # (4ce#c" 1rph 5i.h respec. .o .he he(i#1

24


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o* # 1e#. #( 5i!! e co#'er.e( .o 0.ri?% Wi.h .his3 .he ..ch!e si(es 5i!! e 2p(.e( #(

.he 1o! o* .he 1e#.s is .o s5r0 i#.o re0i#i#1 ..ch!e si(es i# .he prese. (4ce#c" 1rph%

For # i#s.#ce3 5e 5o2!( !i,e .o *or0 ? @D p..er#% Re*er .o Fi12re 7 *or # i!!2s.r.io#%

Fi1% 7) A(4ce#c" 1rph s0p!e *or #2c!e2s se( (esi1#%

E% Ar.i*ici! I#.e!!i1e#ce

The c2rre#. .i0e *r0e (2ri#1 .he e?ec2.io# o* .he si02!.io# 5i!! e .he i0p!e0e#..io# o*

.he 1e#.>s eh'ior% The *!o5chr. i# Fi12re 7 5i!! e pp!ie( i# .he c2rre#. .i0e *r0e #(

5i!! e i.er.e( o# .he s2ccee(i#1 *r0es 2#.i! .he 1o! is chie'e(% The s.eps 5ere i(e#.ic! .o

Pos(s> e?ec2.io# o* r.i*ici! i#.e!!i1e#ce e?c!2(i#1 .he i01e processi#1 phse 5hi!e ((i#1

priori.i$.io# .o e#!e 02!.i-.rc,i#1 *or 1e#.s i# .he pro1r0%

25


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Fi1% 7) F!o5chr. o'er'ie5 o* Ar.i*ici! I#.e!!i1e#ce

+$ Path 4indin25 I# or(er .o *i#( p.h *or .he 1e#. . .i0e .73 .he p.h p!# 02s. co#si(er .he

os.r2c.io# .h. c# occ2r !o#1 .he 1e#.>s p.h% Wi.h .he co#cer# i# *i#(i#1 .he ri1h. p.h *or

.he 1e#.3 .he i#p2. 02s. co#si(er .he co#*i12r.io# spce #( 'isii!i." 1rph%

a. Confi2uation Space5 The co#*i12r.io# spce 5i!! e co#'er.e( i#.o Cr.esi#

coor(i#.e p!#e i# res.ric.io# .o .he pro1r0 si02!.or .h. 5i!! e 2se( i# (e'e!opi#1

.he pp!ic.io#%

26


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b. -isibility 6aph5 Accor(i#1 .o Pos(s 6s ci.e( i# Depr.0e#. o* Co0p2.er Scie#ce3

Co!20i U#i'ersi." ;


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cer.i# poi#.s o* i.s p!##e( p.h% The 1e#. sho2!( choose #o.her p.h . .his co!!isio#

perio( .o 1i'e priori." .o o.her 1e#.s .h. re c!oser .o .heir 1o!%

#$ Application of A; seach Al2oithm

A serch is he2ris.ic serchi#1 0e.ho( .h. 2ses es.-*irs. serch #( *i#(s !es.-

cos. p.h *ro0 1i'e# i#i.i! #o(e .o o#e 1o! #o(e% As A !1ori.h0 .r'erses .he 'isii!i."

1rph3 i. *o!!o5s p.h o* .he !o5es. e?pec.e( .o.! cos. or (is.#ce3 ,eepi#1 sor.e( priori."

2e2e o* !.er#.e p.h se10e#.s !o#1 .he 5"%;<

Pse2(o co(e *or A Serch A!1ori.h0;7@< )

The 1o! #o(e is (e#o.e( " #o(eQ1o! #( .he so2rce #o(e is (e#o.e( " #o(eQs.r.We 0i#.i# .5o !is.s) OPEN #( CLOSE) OPEN co#sis.s o# #o(es .h. h'e ee# 'isi.e( 2. #o.

e?p#(e( 60e#i#1 .h. s2cessors h'e #o. ee# e?p!ore( "e.=% This is .he !is. o* pe#(i#1 .s,s% CLOSE

co#sis.s o# #o(es .h. h'e ee# 'isi.e( #( e?p#(e( 6s2cessors h'e ee# e?p!ore( !re(" #(

i#c!2(e( i# .he ope# !is.3 i* .his 5s .he cse=%

7 P2. #o(eQs.r. i# .he OPEN !is. 5i.h *6#o(eQs.r.= h6#o(eQs.r.= 6i#i.i!i$.io#=

@ 5hi!e .he OPEN !is. is #o. e0p."

T,e *ro0 .he ope# !is. .he #o(e #o(eQc2rre#. 5i.h .he !o5es.

i*6#o(eQc2rre#.= 16#o(eQc2rre#.= h6#o(eQc2rre#.= i* #o(eQc2rre#. is #o(eQ1o! 5e h'e *o2#( .he so!2.io# re,

Ge#er.e ech s..e #o(eQs2ccessor .h. co0e *.er #o(eQc2rre#.

: *or ech #o(eQs2ccessor o* #o(eQc2rre#.

9 Se. s2ccessorQc2rre#.Qcos. 16#o(eQc2rre#.= 56#o(eQc2rre#.3 #o(eQs2ccessor=

8 i* #o(eQs2ccessor is i# .he OPEN !is.

7H i* 16#o(eQs2ccessor= s2ccessorQc2rre#.Qcos. co#.i#2e 6.o !i#e @H=

77 e!se i* #o(eQs2ccessor is i# .he CLOSED !is.

7@ i* 16#o(eQs2ccessor= s2ccessorQc2rre#.Qcos. co#.i#2e 6.o !i#e @H=

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7 Mo'e #o(eQs2ccessor *ro0 .he CLOSED !is. .o .he OPEN !is.

7 e!se

7 A(( #o(eQs2ccessor .o .he OPEN !is.

7 Se. h6#o(eQs2ccessor= .o e .he he2ris.ic (is.#ce .o #o(eQ1o!

7:

79 Se. 16#o(eQs2ccessor= s2ccessorQc2rre#.Qcos.

78 Se. .he pre#. o* #o(eQs2ccessor .o #o(eQc2rre#.@H

@7 A(( #o(eQc2rre#. .o .he CLOSED !is.

@@

23 if(node_current != node_goal) exit wit error (te "#$ li%t i% e&'t)

29


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REFERENCES

;7< Trc"3 K% 5% 6788:=% O4ec.-Orie#.e() Ar.i*ici! I#.e!!i1e#ce Usi#1 C% Ne5 Yor,3 NY)

W%% Free0# #( Co0p#"%

;@< E(% +2# R0# R2/! Dopico3 +2!i# Dor(o (e ! C!!e3 #( A!e4#(ro P$os Sierr%

Vo!%% 6@HH8=% ershe"3 PA) I#*or0.io# Scie#ce Re*ere#ce3 p7:-7@% COPYRIGT

@HH8 IGI G!o!% Re.rie'e( +2!" 7:3 @H73 *ro0) h..p)XX1o%1!e1ro2p%co0X

;< The Ve#2s Pro4ec.% Re.rie'e( +2!" 783 @H73 *ro0 h..ps)XX555%.he'e#2spro4ec.%co0Xe#X

;< Pos(s3 T% 6@H7=% Ar.i*ici! I#.e!!i1e#ce *or Re!-.i0e O4ec. Trc,i#1 o* Moi!e Roo.

i# D"#0ic E#'iro#0e#.3 pp%7-7%

;< W..3 A% 6788=% D Co0p2.er Grphics 6@#( e(%=% Rio (e +#eiro3 Brsi!) A((iso#-Wes!e"

P2!ishi#1 Co0p#"%

;< Schi!!i#13 R% +% 6788H=% F2#(0e#.!s o* Roo.ics A#!"sis #( Co#.ro!% Ne5 +erse"3 N+)

Pre#.ice-!!3 I#c%

;:< +0es3 D% 6@H7H=% D Tr#s*or0.io#s ;p(*


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;8< Wi!e#s,"3 U% 67888=% Ne.Lo1o% h..p)XXcc!%#or.h5es.er#%e(2X#e.!o1oX% Ce#.er *or

Co##ec.e( Ler#i#1 #( Co0p2.er-Bse( Mo(e!i#13 Nor.h5es.er# U#i'ersi."%

E'#s.o#3 IL%

;7H< A.o0ic N2c!e2s% Re.rie'e( +2!" 73 @H73 *ro0 h..p)XX555%che0is.r"e?p!i#e(%co0XAr-

BoXA.o0ic-N2c!e2s%h.0!

;77< Ki03 +%3 &h#13 F%3 Z E1ers.e(.3 M% 6#%(%=% E?p!or.io# 2si#1 Voro#oi (i1r0s% Re.rie'e(

+2!" 7:3 @H73 *ro0 h..p)XX555%2.o#o0o2sroo.s!o1%co0Xe?p!or.io#-2si#1-'oro#oi-

(i1r0sX

;7@< A A!1ori.h0 pse2(oco(e% Re.rie'e( +2!" 783 @H73 *ro0 0.%2%c.X[!se(XMs.erOp.

XAS.r-A!1ori.h0%p(*

;7< O?*or( Dic.io#ries% A!.r2is0% Re.rie'e( +2!" @93 @H73 *ro0 h..p)XX555%o?*or((ic.io#ries

%co0X2sX(e*i#i.io#X0eric#Qe#1!ishX!.r2is0
http://ccl.northwestern.edu/netlogo/http://www.chemistryexplained.com/Ar-http://www.chemistryexplained.com/Ar-http://www.autonomousrobotsblog.com/exploration-using-voronoi-diagrams/http://www.autonomousrobotsblog.com/exploration-using-voronoi-diagrams/http://www.oxforddictionaries/http://ccl.northwestern.edu/netlogo/http://www.chemistryexplained.com/Ar-http://www.autonomousrobotsblog.com/exploration-using-voronoi-diagrams/http://www.autonomousrobotsblog.com/exploration-using-voronoi-diagrams/http://www.oxforddictionaries/

artificial intelligence for self-assembling swarm units in a dynamic environment - research proposal

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