The purpose of this research is to design a proof of concept system that is capable of locating a hidden radio transmitter and to investigate methods of multi-agent formation control with a specific interest in the effectiveness of these methods on the overall objective of locating this transmitter. A system is proposed and developed in which autonomous agents work together to locate this transmitter and their responsiveness is analyzed while using formations based both on a behavioral system and a system derived from centroidal Voronoi tessellations. Many software adaptations to the existing MASnet program are required, as well as some hardware adaptations, including development of a robust simulation platform that may be used in conjunction with the MASnet system, and exploration of a distributed formation system. While this work does not accomplish the overall goal of the MASnet platform -- to be able to locate and control a diffusion process -- it does further understanding of the way autonomous agents interact with their environment and develop tools that aid future research in the program, as well as introduce exciting new areas to which the platform can be applied.

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Swarm robotics is an emerging field that is expected to provide robust solutions to spatially distributed problems. Human operators will often be required to guide a swarm in the fulfillment of a mission. Occasionally, large tasks may require multiple spatial swarms to cooperate in their completion. We hypothesize that when latency, bandwidth, operator dropout, and communication noise are significant factors, human organizations that promote individual initiative perform more effectively and resiliently than hierarchies in the cooperative best-m-of-n task. Simulations automating the behavior of hub-based swarm robotic agents and groups of human operators are used to evaluate this hypothesis. To make the comparisons between the team and hierarchies meaningful, we explore parameter values determining how simulated human operators behave in teams and hierarchies to optimize the performance of the respective organizations. We show that simulation results generally support the hypothesis with respect to the effect of latency and bandwidth on organizational performance.

Uma tendência crescente entre os pesquisadores da Robótica Móvel é a elaboração de sistemas robóticos descentralizados denominados enxames de robôs, nos quais a ação conjunta de cada agente leva à execução de tarefas de maneira mais robusta que quando realizada por um único robô. Um acréscimo adicional à robustez é conveniente em tais sistemas para que eles sejam de maior confiabilidade no mundo real. Neste trabalho, uma rede neural hierárquica desenvolvida para o aprendizado em tempo real inicialmente elaborada para o aprendizado de navegação de um único robô será estendida para controlar um enxame de robôs. O sistema realiza um balanceamento da influência de comportamentos implementados previamente em um robô de acordo com conhecimentos obtidos através da interação do mesmo com o ambiente. Cada robô possui sua própria rede neural, adquirindo seu conhecimento tanto independentemente quanto com o compartilhamento de informações com outros robôs. Espera-se que o uso de tal arquitetura permita uma adaptação mais rápida dos robôs ao ambiente, permitindo uma mudança em tempo real de seus parâmetros de acordo com as peculiaridades do ambiente no qual os robôs estão inseridos. A tarefa de escolta de um robô pelos demais é adotada para a avaliação de desempenho do modelo de rede neural proposto. Dois comportamentos são ponderados pela rede neural hierárquica: o de manutenção de uma distância preestabelecida a um agente e um outro de cobertura de área baseado em Diagramas Centroidais de Voronoi. Os testes foram feitos nos ambientes Player/Stage e indicam que a rede neural hierárquica torna os robôs capazes não apenas de aprender à medida que interagem com ambiente como de utilizar este conhecimento em tempo real para realizar a escolta de forma bem sucedida / A growing trend among Mobile Robotics researchers is developing robot swarms, in which a decentralized robot team solves tasks by combining simple behaviors. It is convenient to have mechanisms to increase a robot systems robustness. In this work, a neural network inspired in behavioral analysis is used to make robots from a swarm to learn how to act propoerly. This network combines two innate behaviors and, according to its experience, learns with the robots mistakes how to make this combination. Each robot has access to its own independent neural network, and can share its knowledge with neighboring robots. It is expected that such architecture learns by itself when to stimulate or supress each behaviors influence as it interacts with the environment. The task chosen to evaluate the proposed system is the escorting of a mobile agent. Two behaviors are balanced to achieve an escorting behavior: maintenance of a minimum distance between a robot and the escort target and an area coverage method based on Centroidal Voronoi Tessellations. Tests were meade using the Player/Stage simulator, and they show that the robots not only are capable of adapting themselves but also are able to use the stored knowledge to improve their effectiveness in doing the desired task

Swarms are groups of agents, which we model as point particles, whose collective behavior emerges from individual interactions. We study a first-order swarming model in a periodic coordinate system with pairwise social forces, investigating its stable configurations for differing numbers of agents relative to the periodic width. Two states emerge from numerical simulations in one dimension: even spacing throughout the period, or clumping within a certain portion of the period. A mathematical analysis of the energy of the system allows us to determine stability of these configurations. We also perform numerical simulations for evolution to equilibrium over time, and find results in agreement with our mathematical analysis. For certain values of the periodic width relative to the number of agents, our numerical simulations show that either clumping or even spacing can be stable equilibria, and which equilibrium is reached depends on on starting conditions, indicating hysteresis.

Exploring a set of unlabeled data to extract the similar clusters, known as data clustering, is an appealing problem in machine learning. In other words, data clustering organizes the underlying data into different groups using a notion of similarity between patterns. A new approach to solve the data clustering problem based on multiple cooperative swarms is introduced. The proposed approach is inspired by the social swarming behavior of biological bird flocks which search for food situated in several places. The proposed approach is composed of two main phases, namely, initialization and exploitation. In the initialization phase, the aim is to distribute the search space among several swarms. That is, a part of the search space is assigned to each swarm in this phase. In the exploitation phase, each swarm searches for the center of its associated cluster while cooperating with other swarms. The search proceeds to converge to a near-optimal solution. As compared to the single swarm clustering approach, the proposed multiple cooperative swarms provide better solutions in terms of fitness function measure for the cluster centers, as the dimensionality of data and number of clusters increase. The multiple cooperative swarms clustering approach assumes that the number of clusters is known a priori. The notion of stability analysis is proposed to extract the number of clusters for the underlying data using multiple cooperative swarms. The mathematical explanations demonstrating why the proposed approach leads to more stable and robust results than those of the single swarm clustering are also provided. Application of the proposed multiple cooperative swarms clustering is considered for one of the most challenging problems in speech recognition: phoneme recognition. The proposed approach is used to decompose the recognition task into a number of subtasks or modules. Each module involves a set of similar phonemes known as a phoneme family. Basically, the goal is to obtain the best solution for phoneme families using the proposed multiple cooperative swarms clustering. The experiments using the standard TIMIT corpus indicate that using the proposed clustering approach boosts the accuracy of the modular approach for phoneme recognition considerably.

Exploring a set of unlabeled data to extract the similar clusters, known as data clustering, is an appealing problem in machine learning. In other words, data clustering organizes the underlying data into different groups using a notion of similarity between patterns. A new approach to solve the data clustering problem based on multiple cooperative swarms is introduced. The proposed approach is inspired by the social swarming behavior of biological bird flocks which search for food situated in several places. The proposed approach is composed of two main phases, namely, initialization and exploitation. In the initialization phase, the aim is to distribute the search space among several swarms. That is, a part of the search space is assigned to each swarm in this phase. In the exploitation phase, each swarm searches for the center of its associated cluster while cooperating with other swarms. The search proceeds to converge to a near-optimal solution. As compared to the single swarm clustering approach, the proposed multiple cooperative swarms provide better solutions in terms of fitness function measure for the cluster centers, as the dimensionality of data and number of clusters increase. The multiple cooperative swarms clustering approach assumes that the number of clusters is known a priori. The notion of stability analysis is proposed to extract the number of clusters for the underlying data using multiple cooperative swarms. The mathematical explanations demonstrating why the proposed approach leads to more stable and robust results than those of the single swarm clustering are also provided. Application of the proposed multiple cooperative swarms clustering is considered for one of the most challenging problems in speech recognition: phoneme recognition. The proposed approach is used to decompose the recognition task into a number of subtasks or modules. Each module involves a set of similar phonemes known as a phoneme family. Basically, the goal is to obtain the best solution for phoneme families using the proposed multiple cooperative swarms clustering. The experiments using the standard TIMIT corpus indicate that using the proposed clustering approach boosts the accuracy of the modular approach for phoneme recognition considerably.

abstract: A robotic swarm can be defined as a large group of inexpensive, interchangeable robots with limited sensing and/or actuating capabilities that cooperate (explicitly or implicitly) based on local communications and sensing in order to complete a mission. Its inherent redundancy provides flexibility and robustness to failures and environmental disturbances which guarantee the proper completion of the required task. At the same time, human intuition and cognition can prove very useful in extreme situations where a fast and reliable solution is needed. This idea led to the creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate the human element into the control of robotic swarms for increased robustness and reliability. The aim of the present work is to extend the current state-of-the-art in HSI by applying ideas and principles from the field of Brain-Computer Interfaces (BCI), which has proven to be very useful for people with motor disabilities. At first, a preliminary investigation about the connection of brain activity and the observation of swarm collective behaviors is conducted. After showing that such a connection may exist, a hybrid BCI system is presented for the control of a swarm of quadrotors. The system is based on the combination of motor imagery and the input from a game controller, while its feasibility is proven through an extensive experimental process. Finally, speech imagery is proposed as an alternative mental task for BCI applications. This is done through a series of rigorous experiments and appropriate data analysis. This work suggests that the integration of BCI principles in HSI applications can be successful and it can potentially lead to systems that are more intuitive for the users than the current state-of-the-art. At the same time, it motivates further research in the area and sets the stepping stones for the potential development of the field of Brain-Swarm Interfaces (BSI). / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2017

Les systèmes autonomes sont des objets mobiles communicants capables de réaliser un certain nombre de tâches sans intervention humaine. Le coût (e.g. argent, poids, énergie) de la charge utile requise pour effectuer certaines missions est parfois trop important pour permettre aux engins d’embarquer la totalité des capacités nécessaires (i.e. capteurs et actionneurs). Répartir ces capacités sur plusieurs entités est une solution naturelle à ce problème. Un tel groupe d’entités constitue une flotte à laquelle il devient nécessaire de fournir un mécanisme de découverte permettant aux différents engins de partager leurs capacités respectives afin de résoudre une mission globale de façon collaborative. Ce mécanisme, outre l’affectation des tâches, doit gérer les conflits et les pannes potentielles qui peuvent survenir à tout moment sur tout engin de la flotte. Fort de ces constations, nous proposons un nouveau mécanisme collaboratif nommé AMiRALE qui apporte une solution aux problèmes ci-dessus pour les flottes hétérogènes d’engins mobiles autonomes. Notre système est entièrement distribué et repose uniquement sur des communications asynchrones. Nous proposonségalement un nouvel outil nommé NEmu permettant de créer des réseaux virtuels mobiles avec un contrôle important sur les propriétés de la topologie du réseau ainsi que sur la configuration des noeuds et des inter-connexions. Cet outil permet la réalisation d’expérimentations réalistes sur des prototypes d’applications réseaux. Enfin, nous proposons une évaluation de notre système collaboratif AMiRALE au travers d’un scénario de nettoyage de parc utilisant une flotte autonome de drones et de robots terrestres spécialisés. / We call autonomous systems, mobile and communicating objects which are able to perform several tasks without any human intervention. The overall cost (including price, weight and energy) of the payload required by some missions is sometimes too important to enable the entities to embed all the required capabilities (i.e. sensors and actuators). This is the reason why it is more suitable to spread all the capabilities among several entities. The team formed by those entities is called a swarm. It then becomes necessary to provide a discovery mechanism built into the swarm in order to enable its members to share their capabilities and to collaborate for achieving a global mission.This mechanism should perform task allocation as well as management of conflicts and failures which can occur at any moment on any entity of the swarm. In this thesis, we present a novel collaborative system which is called AMiRALE for heterogeneous swarms of autonomous mobile robots. Our system is fully distributed and relies only on asynchronous communications. We also present a novel tool called NEmu which enables to create virtual mobile networks with a complete control over the network topology, links and nodes properties. This tool is designed for performingrealistic experimentation on prototypes of network applications. Finally, we present experimental results on our collaborative system AMiRALE obtained through a park cleaning scenario which relies on an autonomous swarm of drones and specialized ground robots.

The region of West Bohemia/Vogtland in the Czech–German border area is well known for the repeated occurrence of earthquake swarms, CO2 emanations and mofette fields. To deepen the understanding of these phenomena local earthquake tomography of the Vp and Vp/Vs structure and attenuation tomography are carried out in this study. In comparison with previous investigations the travel time tomography revealed more details of the near-surface geology, potential fluid pathways and features around and below the swarm focal zone. In the uppermost crust, for the first time the Cheb basin and the Bublák/Hartoušov mofette fields were imaged as distinct anomalies of Vp and Vp/Vs. The well-pronounced low-Vp anomaly of the Cheb basin is not continuing into the Eger rift indicating a particular role of the basin within the rift system. A steep channel of increased Vp/Vs is interpreted as the pathway for fluids ascending from the earthquake swarm focal zone up to the Bublák/Hartoušov mofette fields. As a new feature, a mid-crustal body of high Vp and increased Vp/Vs is revealed just below and north of the earthquake swarm focal zone. It may represent a solidified intrusive body which emplaced prior or during the formation of the rift system. The enhanced fluid flow into the focal zone and triggering of earthquakes could be driven by the presence of the intrusive body if cooling is not fully completed. The assumed intrusive structure is considered as a heterogeneity leading to higher stress particularly at the junction of the rift system with the basin and prominent fault structures. This may additionally contribute to the triggering of earthquakes. The three-dimensional (3-D) P-wave attenuation (Qp) model for West Bohemia is the first of its kind. Path-averaged attenuation t * is calculated from amplitude spectra of time windows around the P-wave arrivals of local earthquakes. Average value or Qp for stations close to Nový Kostel are very low (< 150) compared to that of stations located further away from the focal zone (increases up to 500 within 80 km distance). The SIMUL2000 tomography scheme is used to invert the t * for P-wave attenuation perturbation. Analysis of resolution shows that the model is wellresolved in the vicinity of earthquake swarm hypocenters. The prominent features of the model are located around Nový Kostel focal zone and its northern vicinity. Beneath Nový Kostel a vertically stretched (down to depth of 11 km) and a highly attenuating body is observed. This might be due to fracturing and high density of cracks inside the weak earthquake swarm zone in conjunction with presence of free gas/fluid. Further north of Nový Kostel two high attenuating body are located at depths between 2 to 8 km which can represents trapped laterally distributed fluids. The eastern anomaly shows a good correlation with the fluid accumulation area which was suggested in 9HR seismic profile.