DCP-SLAM: Distributed Collaborative Partial Swarm SLAM for Efficient Navigation of Autonomous Robots.

Collaborative robots represent an evolution in the field of swarm robotics that is pervasive in modern industrial undertakings from manufacturing to exploration. Though there has been much work on path planning for autonomous robots employing floor plans, energy-efficient navigation of autonomous robots in unknown environments is gaining traction. This work presents a novel methodology of low-overhead collaborative sensing, run-time mapping and localization, and navigation for robot swarms. The aim is to optimize energy consumption for the swarm as a whole rather than individual robots. An energy- and information-aware management algorithm is proposed to optimize the time and energy required for a swarm of autonomous robots to move from a launch area to the predefined destination. This is achieved by modifying the classical Partial Swarm SLAM technique, whereby sections of objects discovered by different members of the swarm are stitched together and broadcast to members of the swarm. Thus, a follower can find the shortest path to the destination while avoiding even far away obstacles in an efficient manner. The proposed algorithm reduces the energy consumption of the swarm as a whole due to the fact that the leading robots sense and discover respective optimal paths and share their discoveries with the followers. The simulation results show that the robots effectively re-optimized the previous solution while sharing necessary information within the swarm. Furthermore, the efficiency of the proposed scheme is shown via comparative results, i.e., reducing traveling distance by 13% for individual robots and up to 11% for the swarm as a whole in the performed experiments.

Swarm formation morphing for congestion-aware collision avoidance.

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays, resulting in a reduced overall mission time and lower energy consumption. To handle this, the problem is divided into two main parts: 1) the disturbance phase: how to morph the formation optimally to avoid the obstacle in the least possible time in the situation at hand, and 2) the convergence phase: how to optimally resume the intended formation shape once the threat of potential collision has been eliminated. For the first problem, we develop a methodology which tests different formation morphing combinations and finds the optimal one, by utilizing trajectory, velocity, and coordinate information, to bypass the obstacle. For the second problem, we utilize thin-plate splines (TPS) inspired temperature function minimization method to bring the agents back from the distorted formation into the desired formation in an optimal manner, after collision avoidance has been successfully performed. Experimental results show that, in the considered test scenario, the proposed approach results in substantial energy savings as compared with the traditional methods.

GeFeS: A generalized wrapper feature selection approach for optimizing classification performance.

In this paper, we propose a generalized wrapper-based feature selection, called GeFeS, which is based on a parallel new intelligent genetic algorithm (GA). The proposed GeFeS works properly under different numerical dataset dimensions and sizes, carefully tries to avoid overfitting and significantly enhances classification accuracy. To make the GA more accurate, robust and intelligent, we have proposed a new operator for features weighting, improved the mutation and crossover operators, and integrated nested cross-validation into the GA process to properly validate the learning model. The k-nearest neighbor (kNN) classifier is utilized to evaluate the goodness of selected features. We have evaluated the efficiency of GeFeS on various datasets selected from the UCI machine learning repository. The performance is compared with state-of-the-art classification and feature selection methods. The results demonstrate that GeFeS can significantly generalize the proposed multi-population intelligent genetic algorithm under different sizes of two-class and multi-class datasets. We have achieved the average classification accuracy of 95.83%, 97.62%, 99.02%, 98.51%, and 94.28% while reducing the number of features from 56 to 28, 34 to 18, 279 to 135, 30 to 16, and 19 to 9 under lung cancer, dermatology, arrhythmia, WDBC, and hepatitis, respectively.

High performance pattern matching on heterogeneous platform.

Pattern discovery is one of the fundamental tasks in bioinformatics and pattern recognition is a powerful technique for searching sequence patterns in the biological sequence databases. Fast and high performance algorithms are highly demanded in many applications in bioinformatics and computational molecular biology since the significant increase in the number of DNA and protein sequences expand the need for raising the performance of pattern matching algorithms. For this purpose, heterogeneous architectures can be a good choice due to their potential for high performance and energy efficiency. In this paper we present an efficient implementation of Aho-Corasick (AC) which is a well known exact pattern matching algorithm with linear complexity, and Parallel Failureless Aho-Corasick (PFAC) algorithm which is the massively parallelized version of AC algorithm without failure transitions, on a heterogeneous CPU/GPU architecture. We progressively redesigned the algorithms and data structures to fit on the GPU architecture. Our results on different protein sequence data sets show that the new implementation runs 15 times faster compared to the original implementation of the PFAC algorithm.