Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems

This paper focuses on the general problem of coordinating of multi-robot systems, more specifically, it addresses the self-election of heterogeneous and specialized tasks by autonomous robots. In this regard, it has proposed experimenting with two different techniques based chiefly on selforganization and emergence biologically inspired, by applying response threshold models as well as ant colony optimization. Under this approach it can speak of multi-tasks selection instead of multi-tasks allocation, that means, as the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. It has evaluated the robustness of the algorithms, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Arquitectura de supercomputación en la nube para la resolución de problemas de optimización combinatoria

La tesis está focalizada en la resolución de problemas de optimización combinatoria, haciendo uso de las opciones tecnológicas actuales que ofrecen las tecnologías de la información y las comunicaciones, y la investigación operativa. Los problemas de optimización combinatoria se resuelven en general mediante programación lineal y metaheurísticas. La aplicación de las técnicas de resolución de los problemas de optimización combinatoria requiere de una elevada carga computacional, y los algoritmos deben diseñarse, por un lado pensando en la efectividad para encontrar buenas soluciones del problema, y por otro lado, pensando en un uso adecuado de los recursos informáticos disponibles. La programación lineal y las metaheurísticas son técnicas de resolución genéricas, que se pueden aplicar a diferentes problemas, partiendo de una base común que se particulariza para cada problema concreto. En el campo del desarrollo de software, los frameworks cumplen esa función de comenzar un proyecto con el trabajo general ya disponible, con la opción de cambiar o extender ese comportamiento base o genérico, para construir el sistema concreto, lo que permite reducir el tiempo de desarrollo, y amplía las posibilidades de éxito del proyecto. En esta tesis se han desarrollado dos frameworks de desarrollo. El framework ILP permite modelar y resolver problemas de programación lineal, de forma independiente al software de resolución de programación lineal que se utilice. El framework LME permite resolver problemas de optimización combinatoria mediante metaheurísticas. Tradicionalmente, las aplicaciones de resolución de problemas de optimización combinatoria son aplicaciones de escritorio que permiten gestionar toda la información de entrada del problema y resuelven el problema en local, con los recursos hardware disponibles. Recientemente ha aparecido un nuevo paradigma de despliegue y uso de aplicaciones que permite compartir recursos informáticos especializados por Internet. Esta nueva forma de uso de recursos informáticos es la computación en la nube, que presenta el modelo de software como servicio (SaaS). En esta tesis se ha construido una plataforma SaaS, para la resolución de problemas de optimización combinatoria, que se despliega sobre arquitecturas compuestas por procesadores multi-núcleo y tarjetas gráficas, y dispone de algoritmos de resolución basados en frameworks de programación lineal y metaheurísticas. Toda la infraestructura es independiente del problema de optimización combinatoria a resolver, y se han desarrollado tres problemas que están totalmente integrados en la plataforma SaaS. Estos problemas se han seleccionado por su importancia práctica. Uno de los problemas tratados en la tesis, es el problema de rutas de vehículos (VRP), que consiste en calcular las rutas de menor coste de una flota de vehículos, que reparte mercancías a todos los clientes. Se ha partido de la versión más clásica del problema y se han hecho estudios en dos direcciones. Por un lado se ha cuantificado el aumento en la velocidad de ejecución de la resolución del problema en tarjetas gráficas. Por otro lado, se ha estudiado el impacto en la velocidad de ejecución y en la calidad de soluciones, en la resolución por la metaheurística de colonias de hormigas (ACO), cuando se introduce la programación lineal para optimizar las rutas individuales de cada vehículo. Este problema se ha desarrollado con los frameworks ILP y LME, y está disponible en la plataforma SaaS. Otro de los problemas tratados en la tesis, es el problema de asignación de flotas (FAP), que consiste en crear las rutas de menor coste para la flota de vehículos de una empresa de transporte de viajeros. Se ha definido un nuevo modelo de problema, que engloba características de problemas presentados en la literatura, y añade nuevas características, lo que permite modelar los requerimientos de las empresas de transporte de viajeros actuales. Este nuevo modelo resuelve de forma integrada el problema de definir los horarios de los trayectos, el problema de asignación del tipo de vehículo, y el problema de crear las rotaciones de los vehículos. Se ha creado un modelo de programación lineal para el problema, y se ha resuelto por programación lineal y por colonias de hormigas (ACO). Este problema se ha desarrollado con los frameworks ILP y LME, y está disponible en la plataforma SaaS. El último problema tratado en la tesis es el problema de planificación táctica de personal (TWFP), que consiste en definir la configuración de una plantilla de trabajadores de menor coste, para cubrir una demanda de carga de trabajo variable. Se ha definido un modelo de problema muy flexible en la definición de contratos, que permite el uso del modelo en diversos sectores productivos. Se ha definido un modelo matemático de programación lineal para representar el problema. Se han definido una serie de casos de uso, que muestran la versatilidad del modelo de problema, y permiten simular el proceso de toma de decisiones de la configuración de una plantilla de trabajadores, cuantificando económicamente cada decisión que se toma. Este problema se ha desarrollado con el framework ILP, y está disponible en la plataforma SaaS. ABSTRACT The thesis is focused on solving combinatorial optimization problems, using current technology options offered by information technology and communications, and operations research. Combinatorial optimization problems are solved in general by linear programming and metaheuristics. The application of these techniques for solving combinatorial optimization problems requires a high computational load, and algorithms are designed, on the one hand thinking to find good solutions to the problem, and on the other hand, thinking about proper use of the available computing resources. Linear programming and metaheuristic are generic resolution techniques, which can be applied to different problems, beginning with a common base that is particularized for each specific problem. In the field of software development, frameworks fulfill this function that allows you to start a project with the overall work already available, with the option to change or extend the behavior or generic basis, to build the concrete system, thus reducing the time development, and expanding the possibilities of success of the project. In this thesis, two development frameworks have been designed and developed. The ILP framework allows to modeling and solving linear programming problems, regardless of the linear programming solver used. The LME framework is designed for solving combinatorial optimization problems using metaheuristics. Traditionally, applications for solving combinatorial optimization problems are desktop applications that allow the user to manage all the information input of the problem and solve the problem locally, using the available hardware resources. Recently, a new deployment paradigm has appeared, that lets to share hardware and software resources by the Internet. This new use of computer resources is cloud computing, which presents the model of software as a service (SaaS). In this thesis, a SaaS platform has been built for solving combinatorial optimization problems, which is deployed on architectures, composed of multi-core processors and graphics cards, and has algorithms based on metaheuristics and linear programming frameworks. The SaaS infrastructure is independent of the combinatorial optimization problem to solve, and three problems are fully integrated into the SaaS platform. These problems have been selected for their practical importance. One of the problems discussed in the thesis, is the vehicle routing problem (VRP), which goal is to calculate the least cost of a fleet of vehicles, which distributes goods to all customers. The VRP has been studied in two directions. On one hand, it has been quantified the increase in execution speed when the problem is solved on graphics cards. On the other hand, it has been studied the impact on execution speed and quality of solutions, when the problem is solved by ant colony optimization (ACO) metaheuristic, and linear programming is introduced to optimize the individual routes of each vehicle. This problem has been developed with the ILP and LME frameworks, and is available in the SaaS platform. Another problem addressed in the thesis, is the fleet assignment problem (FAP), which goal is to create lower cost routes for a fleet of a passenger transport company. It has been defined a new model of problem, which includes features of problems presented in the literature, and adds new features, allowing modeling the business requirements of today's transport companies. This new integrated model solves the problem of defining the flights timetable, the problem of assigning the type of vehicle, and the problem of creating aircraft rotations. The problem has been solved by linear programming and ACO. This problem has been developed with the ILP and LME frameworks, and is available in the SaaS platform. The last problem discussed in the thesis is the tactical planning staff problem (TWFP), which is to define the staff of lower cost, to cover a given work load. It has been defined a very rich problem model in the definition of contracts, allowing the use of the model in various productive sectors. It has been defined a linear programming mathematical model to represent the problem. Some use cases has been defined, to show the versatility of the model problem, and to simulate the decision making process of setting up a staff, economically quantifying every decision that is made. This problem has been developed with the ILP framework, and is available in the SaaS platform.

Optimization of the Topology of Electric Energy Distribution Networks by Using Algorithm Inspired on Ant Behaviors

An algorithm inspired on ant behavior is developed in order to find out the topology of an electric energy distribution network with minimum power loss. The algorithm performance is investigated in hypothetical and actual circuits. When applied in an actual distribution system of a region of the State of Sao Paulo (Brazil), the solution found by the algorithm presents loss lower than the topology built by the concessionary company.

Optimization techniques for power distribution planning with uncertainties: a comparative study

Important research effort has been devoted to the topic of optimal planning of distribution systems. The non linear nature of the system, the need to consider a large number of scenarios and the increasing necessity to deal with uncertainties make optimal planning in distribution systems a difficult task. Heuristic techniques approaches have been proposed to deal with these issues, overcoming some of the inherent difficulties of classic methodologies. This paper considers several methodologies used to address planning problems of electrical power distribution networks, namely mixedinteger linear programming (MILP), ant colony algorithms (AC), genetic algorithms (GA), tabu search (TS), branch exchange (BE), simulated annealing (SA) and the Bender´s decomposition deterministic non-linear optimization technique (BD). Adequacy of theses techniques to deal with uncertainties is discussed. The behaviour of each optimization technique is compared from the point of view of the obtained solution and of the methodology performance. The paper presents results of the application of these optimization techniques to a real case of a 10-kV electrical distribution system with 201 nodes that feeds an urban area.

Flexible colony-founding strategies in a socially polymorphic ant

In social insects the number of queens per nest varies greatly. One of the proximate causes of this variation may be that queens produced by multiple-queen colonies are generally smaller, and might thus be unable to found new colonies independently. We examined whether the social origin of queens and males influenced the colony-founding success of queens in the socially polymorphic ant Formica selysi. Queens originating from single-queen and multiple-queen colonies had similar survival rates and colony-founding success, be they alone or in two-queen associations. During the first 5 months, queens originating from single-queen colonies gave rise to more workers than queens originating from multiple-queen colonies. Pairs of queens were also more productive than single queens. However, these differences in productivity were transient, as all types of colonies had reached a similar size after 15 months. Mating between social forms was possible and did not decrease queen survival or colony productivity, compared to mating within social forms. Overall, these results indicate that queens from each social form are able to found colonies independently, at least under laboratory conditions. Moreover, gene flow between social forms is not restricted by mating or genetic incompatibilities. This flexibility in mating and colony founding helps to explain the maintenance of alternative social structures in sympatry and the absence of genetic differentiation between social forms.

Ant larval demand reduces aphid colony growth rates in an ant-aphid interaction

Ants often form mutualistic interactions with aphids, soliciting honeydew in return for protective services. Under certain circumstances, however, ants will prey upon aphids. In addition, in the presence of ants aphids may increase the quantity or quality of honeydew produced, which is costly. Through these mechanisms, ant attendance can reduce aphid colony growth rates. However, it is unknown whether demand from within the ant colony can affect the ant-aphid interaction. In a factorial experiment, we tested whether the presence of larvae in Lasius niger ant colonies affected the growth rate of Aphis fabae colonies. Other explanatory variables tested were the origin of ant colonies (two separate colonies were used) and previous diet (sugar only or sugar and protein). We found that the presence of larvae in the ant colony significantly reduced the growth rate of aphid colonies. Previous diet and colony origin did not affect aphid colony growth rates. Our results suggest that ant colonies balance the flow of two separate resources from aphid colonies- renewable sugars or a protein-rich meal, depending on demand from ant larvae within the nest. Aphid payoffs from the ant-aphid interaction may change on a seasonal basis, as the demand from larvae within the ant colony waxes and wanes.

Optimization of query results in peer-to-peer database supported by semantics

The development of new technologies that use peer-to-peer networks grows every day, with the object to supply the need of sharing information, resources and services of databases around the world. Among them are the peer-to-peer databases that take advantage of peer-to-peer networks to manage distributed knowledge bases, allowing the sharing of information semantically related but syntactically heterogeneous. However, it is a challenge to ensure the efficient search for information without compromising the autonomy of each node and network flexibility, given the structural characteristics of these networks. On the other hand, some studies propose the use of ontology semantics by assigning standardized categorization of information. The main original contribution of this work is the approach of this problem with a proposal for optimization of queries supported by the Ant Colony algorithm and classification though ontologies. The results show that this strategy enables the semantic support to the searches in peer-to-peer databases, aiming to expand the results without compromising network performance. © 2011 IEEE.

A multiple pheromone ant clustering algorithm

Ant colony optimisation algorithms model the way ants use pheromones for marking paths to important locations in their environment. Pheromone traces are picked up, followed, and reinforced by other ants but also evaporate over time. Optimal paths attract more pheromone and less useful paths fade away. The main innovation of the proposed Multiple Pheromone Ant Clustering Algorithm (MPACA) is to mark objects using many pheromones, one for each value of each attribute describing the objects in multidimensional space. Every object has one or more ants assigned to each attribute value and the ants then try to find other objects with matching values, depositing pheromone traces that link them. Encounters between ants are used to determine when ants should combine their features to look for conjunctions and whether they should belong to the same colony. This paper explains the algorithm and explores its potential effectiveness for cluster analysis. © 2014 Springer International Publishing Switzerland.

Visual Navigation In The Neotropical Ant Odontomachus Hastatus (formicidae, Ponerinae), A Predominantly Nocturnal, Canopy-dwelling Predator Of The Atlantic Rainforest.

The arboreal ant Odontomachus hastatus nests among roots of epiphytic bromeliads in the sandy forest at Cardoso Island (Brazil). Crepuscular and nocturnal foragers travel up to 8m to search for arthropod prey in the canopy, where silhouettes of leaves and branches potentially provide directional information. We investigated the relevance of visual cues (canopy, horizon patterns) during navigation in O. hastatus. Laboratory experiments using a captive ant colony and a round foraging arena revealed that an artificial canopy pattern above the ants and horizon visual marks are effective orientation cues for homing O. hastatus. On the other hand, foragers that were only given a tridimensional landmark (cylinder) or chemical marks were unable to home correctly. Navigation by visual cues in O. hastatus is in accordance with other diurnal arboreal ants. Nocturnal luminosity (moon, stars) is apparently sufficient to produce contrasting silhouettes from the canopy and surrounding vegetation, thus providing orientation cues. Contrary to the plain floor of the round arena, chemical cues may be important for marking bifurcated arboreal routes. This experimental demonstration of the use of visual cues by a predominantly nocturnal arboreal ant provides important information for comparative studies on the evolution of spatial orientation behavior in ants. This article is part of a Special Issue entitled: Neotropical Behaviour.

The Salmon Algorithm - A New Population Based Search Metaheuristic

This thesis introduces the Salmon Algorithm, a search meta-heuristic which can be used for a variety of combinatorial optimization problems. This algorithm is loosely based on the path finding behaviour of salmon swimming upstream to spawn. There are a number of tunable parameters in the algorithm, so experiments were conducted to find the optimum parameter settings for different search spaces. The algorithm was tested on one instance of the Traveling Salesman Problem and found to have superior performance to an Ant Colony Algorithm and a Genetic Algorithm. It was then tested on three coding theory problems - optimal edit codes, optimal Hamming distance codes, and optimal covering codes. The algorithm produced improvements on the best known values for five of six of the test cases using edit codes. It matched the best known results on four out of seven of the Hamming codes as well as three out of three of the covering codes. The results suggest the Salmon Algorithm is competitive with established guided random search techniques, and may be superior in some search spaces.

Arboreal thorn-dwelling ants use domatia morphology to partition nest sites on the savanna ant-plant, Vachellia erioloba

Nest site selection in arboreal, domatia-dwelling ants, particularly those coexisting on a single host plant, is little understood. To examine this phenomenon we studied the African savannah tree Vachellia erioloba, which hosts ants in swollen-thorn domatia. We found four ant species from different genera (Cataulacus intrudens, Tapinoma subtile, Tetraponera ambigua and an unidentified Crematogaster species). In contrast to other African ant plants, many V. erioloba trees (41 % in our survey) were simultaneously co-occupied by more than one ant species. Our study provides quantitative field data describing: (1) aspects of tree and domatia morphology relevant to supporting a community of mutualist ants, (2) how ant species occupancy varies with domatia morphology and (3) how ant colony size varies with domatia size and species. We found that Crematogaster sp. occupy the largest thorns, followed by C. intrudens, with T. subtile in the smallest thorns. Thorn age, as well as nest entrance hole size correlated closely with ant species occupant. These differing occupancy patterns may help to explain the unusual coexistence of three ant species on individual myrmecophytic trees. In all three common ant species, colony size, as measured by total number of ants, increased with domatia size. Additionally, domatia volume and species identity interact to predict ant numbers, suggesting differing responses between species to increased availability of nesting space. The proportion of total ants in nests that were immatures varied with thorn volume and species, highlighting the importance of domatia morphology in influencing colony structure.

Manipulation of fire ant density, Solenopsis spp., for short-term reduction of Diatraea saccharalis larval densities in Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Roteamento de consultas em banco de dados peer-to-peer utilizando colônias de formigas e ontologias

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Does body size of neotropical ant species influence their recruitment speed?

Formigas são um dos mais importantes grupos animais nas florestas tropicais devido a sua abundância e seu número de espécies. Uma característica importante do grupo é a eusocialidade, que permite a ocorrência do comportamento de recrutamento quando um recurso alimentar é encontrado. Entretanto, existem duas questões principais acerca desse comportamento: (i) o recrutamento é um produto de pressões ambientais ou filogenéticas, e (ii) a velocidade de recrutamento é relacionada ao tamanho corpóreo das espécies de formigas. Neste trabalho nós analisamos essas duas questões em 17 espécies de formigas neotropicais, na floresta Amazônica densa de terras baixas. De acordo com os resultados, o recrutamento é fortemente relacionado com o tamanho da formiga, sendo que espécies menores exibem essa característica quando encontram uma fonte protéica. Entretanto, o tamanho das espécies não é importante na velocidade de recrutamento, o que sugere que a velocidade de recrutamento pode ser melhor explicado pelo tipo de recursos alimentares necessários à colônia.

The multiple pheromone ant clustering algorithm and its application to real world domains

The Multiple Pheromone Ant Clustering Algorithm (MPACA) models the collective behaviour of ants to find clusters in data and to assign objects to the most appropriate class. It is an ant colony optimisation approach that uses pheromones to mark paths linking objects that are similar and potentially members of the same cluster or class. Its novelty is in the way it uses separate pheromones for each descriptive attribute of the object rather than a single pheromone representing the whole object. Ants that encounter other ants frequently enough can combine the attribute values they are detecting, which enables the MPACA to learn influential variable interactions. This paper applies the model to real-world data from two domains. One is logistics, focusing on resource allocation rather than the more traditional vehicle-routing problem. The other is mental-health risk assessment. The task for the MPACA in each domain was to predict class membership where the classes for the logistics domain were the levels of demand on haulage company resources and the mental-health classes were levels of suicide risk. Results on these noisy real-world data were promising, demonstrating the ability of the MPACA to find patterns in the data with accuracy comparable to more traditional linear regression models. © 2013 Polish Information Processing Society.