As an emergent research area by which swarm intelligence is applied to multi-robot systems; robotics (a very particular and peculiar sub-area of collective robotics) studies how coordinate large groups relatively simple robots through the use local rules.It focuses on studying design amount robots, their physical bodies controlling behaviors.Since its introduction in 2000, several successful experimentations had been realized, till now more projects are under investigations.This paper seeks...

Aggregation is a vital behavior when performing complex tasks in most of the swarm systems, such as robotics systems. In this paper, three new aggregation methods, namely distance-angular, distance-cosine, and distance-Minkowski k-nearest neighbor (k-NN) have been introduced. These methods are mainly built on well-known metrics: cosine, angular, Minkowski distance functions, which used here to compute distances among robots' neighbors. Relying these each robot identifies its neighborhood set...

We report a swarm robots circle formation control model that is based on intra virtual viscoelastic connectivity between the neighbors. The can dynamically form uniform using only distance estimation among neighbors, fully decentralized and scalable by which be formed whatever number of being implicated. Based equilibrium forces exerted robots, could positions at equal angular ranges boundary with or without positioning robot center circle. A developed, implemented evaluated ARGoS simulator.

Motion planning for multiple entities or a crowd is challenging problem in today's virtual environments. We describe this paper system designed to simulate pedestrian behaviour crowds real time, concentrating particularity on collision avoidance. On-line also referred as the navigation problem. Additional difficulties approaching are that some environments dynamic. In our model we adopted popular methodology computer games, namely A* algorithm. The idea behind look shortest possible routes...

In this work, we study a simple collective behaviour, called aggregation, performed by swarm of mobile robots system. We mainly proposed the Distance-Minkowski k-Nearest Neighbours (DM-KNN) as new approach to aggregation behaviour The method introduced Minkowski distance function in computing distances between robots' neighbours. approach, set k-nn members with which each robot will interact is identified. Then an artificial viscoelastic mesh among built perform aggregation. When Analyzing...

In the literature, many solutions for measuring reputation of web services have been proposed.These help in building service recommendation systems.Nonetheless, there are still challenges that need to be addressed this context, such as "cold start" problem, and lack estimation initial values newcomer services.As measurement depends on previous values, can subvert performance whole system, making it vulnerable different threats, like Sybil attack.In paper, we propose a new bootstrapping...

An innovative and flexible approach is introduced to address the challenge of self-organizing a group mobile robots into cubic-spline-based patterns without any requirement control points. Besides self-organization robots, incorporates potential field-based for obstacle/collision avoidance. This will offer more flexibility swarm efficiently deal with many practical situations, including smoothly avoiding obstacles during movement or exploring covering areas complex curved patterns....

Fault detection in robotic swarm systems is imperative to guarantee their reliability, safety, and maximize operating efficiency avoid expensive maintenance. However, data from these are generally contaminated with noise, which masks important features the degrades fault capability. This paper introduces an effective approach against noise uncertainties data, integrates multiresolution representation of using wavelets sensitivity small changes exponentially weighted moving average scheme....

Detecting anomalies in a robot swarm play core role keeping the desired performance, and meeting requirements specifications. This paper deals with problem of detecting swarm. In this regards, an unsupervised monitoring approach based on principal component analysis k-nearest neighbor is proposed. The model employed to generate residuals for anomaly detection. Then, are examined by computing proposed exponentially smoothed statistic purpose Here, instead using parametric thresholds derived...

In this paper, a Distance-Weighted K Nearest Neighboring (DW-KNN) topology is proposed to study self-organized aggregation as an emergent swarming behavior within robot swarms. A virtual physics approach applied among the neighborhood keep robots together. distance-weighted function based on Smoothed Particle Hydrodynamic (SPH) interpolation used key factor identify K-Nearest neighbors taken into account when aggregating robots. The intra physical connectivity these achieved using...

Two essential problems are still posed in terms of Radio Frequency Identification (RFID) systems, including: security and limitation resources. Recently, Li et al.'s proposed a mutual authentication scheme for RFID systems 2014, it is based on Quasi Cyclic-Moderate Density Parity Check (QC-MDPC) McEliece cryptosystem. This cryptosystem designed to reducing the key sizes. In this paper, we found that does not provide untraceability forward secrecy properties. Furthermore, propose an improved...

We propose CEDA, a Copula-based Estimation of Distribution Algorithm, to increase the size, achieve high diversity and convergence optimal solutions for multiobjective optimization problem. The algorithm exploits statistical properties Copulas produce new from existing ones through estimation their distribution. CEDA starts by taking initial provided any MOEA (Multi Objective Evolutionary Algorithm), construct estimate distribution, uses constructed generate solutions. This design saves need...

Radio Frequency Identification (RFID) and biometric technologies saw fast evolutions during the last years which are used in several applications, such as access control. Among important characteristics RFID tags, we mention limitation of resources (memory, energy, …). Our work focuses on design a authentication protocol uses data confirms secrecy, privacy. requires PRNG (Pseud-Random Number Generator), robust hash function Biometric function. The is to optimize protect data. For Security...

We address the problem of simulating pedestrian crowd behaviors in real time. To date, two approaches can be used modeling and simulation behaviors, i.e. macroscopic microscopic models. Microscopic techniques capture accuracy individualistic behavior while simulations maximize efficiency simulation; neither them assures goals at same In order to achieve strengths classes modeling, we propose a hybrid architecture for defining complex levels, individual aggregate motion flow. It consists...

The general approach in modular robots is to hand design the morphology, and then optimizes controller of structure for a given task. Evolutionary robotics has proposed evolution as bio-inspired overcome limitations human intuition designing robots; theoretically, resulting structures will be better adapted. In this work, we propose an based on cooperative co-evolutionary genetic algorithms configurations controllers homogenous implicitly support self-reconfiguration, algorithm introduces...