Visando contribuir com o estado-da-arte de sistemas bioinspirados em formigas na robóotica, neste trabalho é abordado o problema do controle de um grupo de robôs para a solução coletiva das tarefas de exploração do ambiente e localização de objetos. Para isso, são utilizados algoritmos inspirados em colônias de formigas. O objetivo deste trabalho, portanto, é o desenvolvimento de um sistema de controle de navegação baseado em colônia de formigas para um time de robôs, de maneira que os robôs resolvam esses problemas utilizando estratégias de controle individuais e simples. Esse sistema tem como base a utilização de marcadores ou feromônios artificiais, que podem ser depositados pelos robôs para marcar determinadas posiçôes do ambiente / Aiming to advance the state-of-the-art of ant bioinspired systems in robotic applications, in this work we study the problem of controling a group of robots for solving colective tasks on environment exploration and object localization. To this end, we used algorithms inspired in ant colonies. Therefore, the objective of this work is to develop a navigation control system based on ant colony can solve the problems using simple control strategies. This system uses marks or artificial pheromones that can be released by the robots to mark specific positions in the environment

Combinatorial optimisation problems (COPs) pervade human society: scheduling, design, layout, distribution, timetabling, resource allocation and project management all feature problems where the solution is some combination of elements, the overall value of which needs to be either maximised or minimised (i.e., optimised), typically subject to a number of constraints. Thus, techniques to efficiently solve such problems are an important area of research. A popular group of optimisation algorithms are the metaheuristics, approaches that specify how to search the space of solutions in a problem independent way so that high quality solutions are likely to result in a reasonable amount of computational time. Although metaheuristic algorithms are specified in a problem independent manner, they must be tailored to suit each particular problem to which they are applied. This thesis investigates a number of aspects of the application of the relatively new Ant Colony Optimisation (ACO) metaheuristic to different COPs.The standard ACO metaheuristic is a constructive algorithm loosely based on the foraging behaviour of ant colonies, which are able to find the shortest path to a food source by indirect communication through pheromones. ACO’s artificial pheromone represents a model of the solution components that its artificial ants use to construct solutions. Developing an appropriate pheromone representation is a key aspect of the application of ACO to a problem. An examination of existing ACO applications and the constructive approach more generally reveals how the metaheuristic can be applied more systematically across a range of COPs. The two main issues addressed in this thesis are biases inherent in the constructive process and the systematic selection of pheromone representations.The systematisation of ACO should lead to more consistently high performance of the algorithm across different problems. Additionally, it supports the creation of a generalised ACO system, capable of adapting itself to suit many different combinatorial problems without the need for manual intervention.

Multistage Interconnection Networks (MIN) are popular in switching and communication applications. It has been used in telecommunication and parallel computing systems for many years. The new challenge facing optical MIN is crosstalk, which is caused by coupling two signals within a switching element. Crosstalk is not too big an issue in the Electrical Domain, but due to the stringent Bit Error Rate (BER) constraint, it is a big major concern in the Optical Domain. In this research dissertation, we will study the blocking probability in the optical network and we will study the deterministic conditions for strictly non-blocking Vertical Stacked Optical Benes Networks (VSOBN) with and without worst-case scenarios. We will establish the upper bound on blocking probability of Vertical Stacked Optical Benes Networks with respect to the number of planes used when the non-blocking requirement is not met. We will then study routing in WDM Benes networks and propose a new routing algorithm so that the number of wavelengths can be reduced. Since routing in WDM optical network is an NP-hard problem, many heuristic algorithms are designed by many researchers to perform this routing. We will also develop a genetic algorithm, simulated annealing algorithm and ant colony technique and apply these AI algorithms to route the connections in WDM Benes network.

The problem of scheduling a parallel program presented by a weighted directed acyclic graph (DAG) to the set of homogeneous processors for minimizing the completion time of the program has been extensively studied as academic optimization problem which occurs in optimizing the execution time of parallel algorithm with parallel computer.In this paper, we propose an application of the Ant Colony Optimization (ACO) to a multiprocessor scheduling problem (MPSP). In the MPSP, no preemption is allowed and each operation demands a setup time on the machines. The problem seeks to compose a schedule that minimizes the total completion time.We therefore rely on heuristics to find solutions since solution methods are not feasible for most problems as such. This novel heuristic searching approach to the multiprocessor based on the ACO algorithm a collection of agents cooperate to effectively explore the search space.A computational experiment is conducted on a suit of benchmark application. By comparing our algorithm result obtained to that of previous heuristic algorithm, it is evince that the ACO algorithm exhibits competitive performance with small error ratio.

NASA's current plans for human spaceflight include an evolutionary series of missions based on a steady increase in capability to explore cis-lunar space, the Moon, near-Earth asteroids, and eventually Mars. Although the system architecture definition has the greatest impact on the eventual performance and cost of an exploration program, selecting an optimal architecture is a difficult task due to the lack of methods to adequately explore the architecture design space and the resource-intensive nature of architecture analysis. This research presents a modeling framework to mathematically represent and analyze the space system architecture design space using graph theory. The framework enables rapid exploration of the design space without the need to limit trade options or the need for user interaction during the exploration process. The architecture design space for three missions in a notional evolutionary exploration program, which includes staging locations, vehicle implementation, and system functionality, for each mission destination is explored. Using relative net present value of various system architecture options, the design space exploration reveals that the launch vehicle selection is the primary driver in reducing cost, and other options, such as propellant type, staging location, and aggregation strategy, provide less impact.

Vehicular Ad hoc Networks (VANET) exhibit highly dynamic behavior with high mobility and random network topologies. The performance of Transmission Control Protocols in such wireless ad hoc networks is plagued by a number of problems: frequent link failures, scalability, multi-hop data transmission and data loss. To address these VANET routing issues, I have used the ideas from swarm intelligence. The Ant Colony Optimization (ACO), which is a branch of swarm intelligence, is the main source of my inspiration. I have designed an ant-based routing algorithm which addresses routing issues prevalent in VANETs: adaptivity, robustness and scalability. One attractive feature of ACO is that they provide multiple routes from source to destination, resulting in more robust network. In this work, together with ACO, I have used the ideas from zone routing protocols to develop my algorithm: Mobility Aware Zone based Ant Colony Optimization Routing for VANET that exhibits locality and scalability.

Network resiliency pertains to the vulnerability of telecommunication networks in the case of failures and malicious attacks. With the increasing capacity catering of network for the booming multi-services in Next Generation Networks (NGNs), reducing recovery time and improving capacity efficiency while providing high quality and resiliency of services has become increasingly important for the future network development. Providing network resiliency means to rapidly and accurately reroute the traffic via diversely routed spare capacity in the network when a failure takes down links or nodes in the working path. Planning and optimization for NGNs require an efficient algorithm for spare capacity allocation (SCA) that assures restorability with a minimum of total capacity. This dissertation aims to understand and advance the state of knowledge on spare capacity allocation in network resiliency for telecommunication core networks. Optimal network resiliency design for restorability requires considering: network topology, working and protection paths routing and spare capacity allocation. Restorable networks should be highly efficient in terms of total capacity required for restorability and be able to support any target level of restorability. The SCA strategy is to decide how much spare capacity should be reserved on links and to pre-plan protection paths to protect traffic from a set of failures. This optimal capacity allocation problem for survivable routing is known as NP-complete. To expose the problem structure, we propose a model of the SCA problem using a matrix-based framework, named Distributed Resilience Matrix (DRM) to identify the dependencies between the working and protection capacities associated with each pair of links and also to capture the local capacity usage information in a distributed control environment. In addition, we introduce a novel ant-based heuristic algorithm, called Friend-or-Foe Resilient (FoF-R) ant-based routing algorithm to find the optimal protection cycle (i.e., two node-disjoint paths between a source-destination node pair) and explore the sharing ability among protection paths using a capacity headroom-dependent attraction and repulsion function. Simulation results based on the OMNeT++ and AMPL/CPLEX tools show that the FoF-R scheme with the DRM structure is a promising approach to solving the SCA problem for survivable routing and it gives a good trade off between solution optimality and computation speed. Furthermore, for the SCA studies of survivable networks, it is also important to be able to differentiate between network topologies by means of a robust numerical measure that indicates the level of immunity of these topologies to failures of their nodes and links. Ideally, such a measure should be sensitive to the existence of nodes or links, which are more important than others, for example, if their failure causes the network’s disintegration. Another contribution in this dissertation is to introduce an algebraic connectivity metric, adopted from the spectral graph theory, namely the 2nd smallest eigenvalue of the Laplacian matrix of the network topology, instead of the average nodal degree, to characterize network robustness in studies of the SCA problem. Extensive simulation studies confirm that this metric is a more informative parameter than the average nodal degree for characterizing network topologies in network resiliency studies.

This thesis presents an application of the Ant Colony algorithm for optimizing filter placement and sizing on a radial distribution system to reduce power losses and keep the effective harmonic voltage values and the total harmonic distortion (THD) within prescribed limits. First, a harmonic load flow (HLF) algorithm is performed to demonstrate the effect of harmonic sources on total power loss. Then the Ant Colony algorithm is used in conjunction with HLF to place a selection of filter sizes available at each possible location so that both power loss and THD are minimized. As a result the optimal adjustment of location and size of the filter are determined. Results of computational experiments on standard test systems are presented to demonstrate improvement and effectiveness of using the filters at the optimal location. The methodology used can be easily extended to different distribution network configurations. / Master Thesis

Vehicular Ad hoc Networks (VANET) exhibit highly dynamic behavior with high mobility and random network topologies. The performance of Transmission Control Protocols in such wireless ad hoc networks is plagued by a number of problems: frequent link failures, scalability, multi-hop data transmission and data loss. To address these VANET routing issues, I have used the ideas from swarm intelligence. The Ant Colony Optimization (ACO), which is a branch of swarm intelligence, is the main source of my inspiration. I have designed an ant-based routing algorithm which addresses routing issues prevalent in VANETs: adaptivity, robustness and scalability. One attractive feature of ACO is that they provide multiple routes from source to destination, resulting in more robust network. In this work, together with ACO, I have used the ideas from zone routing protocols to develop my algorithm: Mobility Aware Zone based Ant Colony Optimization Routing for VANET that exhibits locality and scalability.

Combinatorial optimisation problems (COPs) pervade human society: scheduling, design, layout, distribution, timetabling, resource allocation and project management all feature problems where the solution is some combination of elements, the overall value of which needs to be either maximised or minimised (i.e., optimised), typically subject to a number of constraints. Thus, techniques to efficiently solve such problems are an important area of research. A popular group of optimisation algorithms are the metaheuristics, approaches that specify how to search the space of solutions in a problem independent way so that high quality solutions are likely to result in a reasonable amount of computational time. Although metaheuristic algorithms are specified in a problem independent manner, they must be tailored to suit each particular problem to which they are applied. This thesis investigates a number of aspects of the application of the relatively new Ant Colony Optimisation (ACO) metaheuristic to different COPs.The standard ACO metaheuristic is a constructive algorithm loosely based on the foraging behaviour of ant colonies, which are able to find the shortest path to a food source by indirect communication through pheromones. ACO’s artificial pheromone represents a model of the solution components that its artificial ants use to construct solutions. Developing an appropriate pheromone representation is a key aspect of the application of ACO to a problem. An examination of existing ACO applications and the constructive approach more generally reveals how the metaheuristic can be applied more systematically across a range of COPs. The two main issues addressed in this thesis are biases inherent in the constructive process and the systematic selection of pheromone representations.The systematisation of ACO should lead to more consistently high performance of the algorithm across different problems. Additionally, it supports the creation of a generalised ACO system, capable of adapting itself to suit many different combinatorial problems without the need for manual intervention.