This paper assumes each user has more than one queue, derives a new packet dependent proportional fairness power allocation pattern based on the sum of weight capacity and the packet’s priority in users’ queues, and proposes 4 new schemes of cross-layer packet dependent OFDM scheduling for heterogeneous classes of traffic based on proportional fairness. Scenario 1, scenario 2 and scenario 3 lea...

Early studies in particle swarm optimization (PSO) algorithm reveal that the social and cognitive components of swarm, i.e. memory swarm, tend to distribute around the problem's optima. Motivated by these findings, we propose a two-layer PSO with intelligent division of labor (TLPSO-IDL) that aims to improve the search capabilities of PSO through the evolution memory swarm. The evolution in TLP...

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire fighters....

In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Developing and coordinating a multi-agent robot syste...

Many real world optimization problems are dynamic in which global optimum and local optima change over time. Particle swarm optimization has performed well to find and track optima in dynamic environments. In this paper, we propose a new particle swarm optimization algorithm for dynamic environments. The proposed algorithm utilizes a parent swarm to explore the search space and some child swarm...

This paper presents the results of a comprehensive investigation of the current state of swarm robotics research, organizing and classifying that research into a preliminary taxonomy. We aim to provide an analysis of existing swarm systems in an attempt to define the starting point of potential algorithms leading to the development of a new swarm system platform and software design. In other wo...

This paper presents a new approach to particle swarm optimization (PSO) using digital pheremones to coordinate the movements of the swarm within an n-dimensional design space. In traditional PSO, an initial randomly generated population swarm propagates towards the global optimum over a series of iterations. Each particle in the swarm explores the design space based on the information provided ...

Swarm robotics is one the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as the inside of a blood vessel, a collapsed building, the deep sea, or the surface...

We introduce the Xpuck swarm, a research platform with an aggregate raw processing power in excess of two teraflops. The swarm uses 16 e-puck robots augmented with custom hardware that uses the substantial CPU and GPU processing power available from modern mobile system-on-chip devices. The augmented robots, called Xpucks, have at least an order of magnitude greater performance than previous sw...

This paper tries to look at the interactions of a swarm of two at an elementary level. The change in the swarm entropy during the interactions is investigated. The characterization of swarm behavior has been subsumed in four modes, i.e. normal-free, normal-swarm, feeding and obstacle modes. Based on these modes, an entropy based algorithm is constructed to observe pair-wise interactions for eac...