• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 ITC-CSCC -1
• /
• pp.245-248
• /
• 2000

This paper proposes a cooperative parallel tabu search which incorporates with the historical information exchange among processors in addition to its own searching of each processor. We investigate the influence of our proposed cooperative parallel tabu search by comparison with a serial tabu search. We also propose two extensions of the cooperative parallel tabu search which are the cooperative construction of tabu memory and the selection of cooperative partner. Through computational experiment, we observe the improvement of solutions by our proposed method.

• 한국정보통신학회논문지
• /
• 제20권8호
• /
• pp.1444-1451
• /
• 2016

본 논문에서는 무선 애드 혹 네트워크에서 협력 통신을 이용하여 소스 노드에서 목적 노드로 데이터를 전송함에 있어 필요한 에너지를 최소화하기 위한 타부 서치 알고리즘을 제안한다. 무선 애드 혹 네트워크에서 노드의 수가 증가함에 따라 노드 간 경로 설정을 위한 계산량은 급격히 늘어나게 된다. 본 논문에서는 노드 밀도가 높은 무선 애드 혹 네트워크에서 적정한 시간 내에 최적의 협력 통신 경로를 찾기 위한 타부 서치 알고리즘을 제안하며, 효율적인 검색을 위해 타부 서치 알고리즘의 효과적인 이웃해 생성 동작을 제안한다. 제안된 알고리즘은 소스 노드와 목적 노드간의 전송을 위한 최소 에너지와 실행시간 관점에서 성능을 평가하며, 평가 결과에서 제안된 알고리즘이 기존의 알고리즘에 비해 성능이 우수함을 보인다.

• 해양환경안전학회지
• /
• 제25권3호
• /
• pp.259-268
• /
• 2019

Even if only two ships are encountered, a collision may occur due to the mistaken judgment of the positional relationship. In other words, if an officer does not know a target ship's intention, there is always a risk of collision. In this paper, the experiments are conducted to investigate how the intention affects the action of collision avoidance in cooperative and non-cooperative situations. In non-cooperative situation, each ship chooses a course that minimizes costs based on the current situation. That is, it always performs a selfish selection. In a cooperative situation, the information is exchanged with a target ship and a course is selected based on this information. Each ship uses the Distributed Stochastic Search Algorithm so that a next-intended course can be selected by a certain probability and determines the course. In the experimental method, four virtual ships are set up to analyze the action of collision avoidance. Then, using the actual AIS data of eight ships in the strait of Dover, I compared and analyzed the action of collision avoidance in cooperative and non-cooperative situations. As a result of the experiment, the ships showed smooth trajectories in the cooperative situation, but the ship in the non-cooperative situation made frequent big changes to avoid a collision. In the case of the experiment using four ships, there was no collision in the cooperative situation regardless of the size of the safety domain, but a collision occurred between the ships when the size of the safety domain increased in cases of non-cooperation. In the case of experiments using eight ships, it was found that there are optimal parameters for collision avoidance. Also, it was possible to grasp the variation of the sailing distance and the costs according to the combination of the parameters, and it was confirmed that the setting of the parameters can have a great influence on collision avoidance among ships.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2011년도 춘계학술대회 논문집
• /
• pp.411-412
• /
• 2011

• ETRI Journal
• /
• 제37권2호
• /
• pp.262-272
• /
• 2015

In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.

• 전기학회논문지
• /
• 제60권11호
• /
• pp.2152-2156
• /
• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• International Journal of Control, Automation, and Systems
• /
• 제6권2호
• /
• pp.282-287
• /
• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2006년도 하계종합학술대회
• /
• pp.81-82
• /
• 2006

Most work on cooperative diversity has assumed that the cooperating group (source and partners) and the associated average channel conditions between terminals (source, partners, and destination) are predetermined. In practical situations, however, it is important to develop the efficient algorithms for assigning the terminals with good inter-user channels for cooperating groups. In this paper, we propose the partner assignment algorithm for cooperative diversity in mobile communication systems. The proposed partner assignment algorithm is investigated by using the path loss model for mobile communication systems. Numerical results show that the proposed partner assignment algorithm provides the comparable probability of cooperative transmission to the partner assignment algorithm using exhaustive search. The probability of cooperative transmission increases with the number of users, which gives potential benefits of practical implementation to user cooperation in mobile communication systems.

• 한국인터넷방송통신학회논문지
• /
• 제8권2호
• /
• pp.23-28
• /
• 2008

본 논문에서는 모바일 ad-hoc 무선 센서 네트워크에서 전력절약과 안정된 경로의 lifetime을 효과으로 지원하기 위한 위치 기반 협력 도움 라우팅 프로토콜(LACARP : Location-Aided Cooperative-Aided Routing Protocol)을 제안한다. 제안된 라우팅 프로토콜의 기본 아이디어 및 특징은 다음과 같다. 첫째, 전력 절약 전송을 지원하기 위해서 위치기반 정보를 이용하여 경로 탐색 영역을 설정한다. 둘째, 전력 절약 및 효율성 있는 전송을 위해서 설정된 경로 탐색 영역 안에서 스몰 존 기반의 경로 탐색 방법이다. 셋째, 협력도움 전송 방법이다. 설정된 경로위로 데이터를 전송 할 때 전력절약 및 경로의 lifetime을 효과적으로 지원하기 위해서 경로가 설정되지 않은 이웃 노드들로부터 협력도움을 받는다. LACARP의 성능평가는 OPNET(Optimized Network Engineering Tool)을 사용하여 이루어졌으며 성능평가를 통하여 제안된 프로토콜은 경로의 데이터 전송효율과 전력절약 전송 효과적으로 향상 시킬 수 있음을 알 수 있다.

• 로봇학회논문지
• /
• 제11권3호
• /
• pp.127-132
• /
• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.