Cooperative co-evolution based distributed path planning of multiple mobile robots

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

Optimization Task Scheduling Using Cooperation Search Algorithm for Heterogeneous Cloud Computing Systems

Cloud computing has taken over the high-performance distributed computing area,and it currently provides on-demand services and resource polling over the web.As a result of constantly changing user service demand,the task scheduling problem has emerged as a critical analytical topic in cloud computing.The primary goal of scheduling tasks is to distribute tasks to available processors to construct the shortest possible schedule without breaching precedence restrictions.Assignments and schedules of tasks substantially influence system operation in a heterogeneous multiprocessor system.The diverse processes inside the heuristic-based task scheduling method will result in varying makespan in the heterogeneous computing system.As a result,an intelligent scheduling algorithm should efficiently determine the priority of every subtask based on the resources necessary to lower the makespan.This research introduced a novel efficient scheduling task method in cloud computing systems based on the cooperation search algorithm to tackle an essential task and schedule a heterogeneous cloud computing problem.The basic idea of thismethod is to use the advantages of meta-heuristic algorithms to get the optimal solution.We assess our algorithm’s performance by running it through three scenarios with varying numbers of tasks.The findings demonstrate that the suggested technique beats existingmethods NewGenetic Algorithm(NGA),Genetic Algorithm(GA),Whale Optimization Algorithm(WOA),Gravitational Search Algorithm(GSA),and Hybrid Heuristic and Genetic(HHG)by 7.9%,2.1%,8.8%,7.7%,3.4%respectively according to makespan.

Target distribution in cooperative combat based on Bayesian optimization algorithm

Target distribution in cooperative combat is a difficult and emphases. We build up the optimization model according to the rule of fire distribution. We have researched on the optimization model with BOA. The BOA can estimate the joint probability distribution of the variables with Bayesian network, and the new candidate solutions also can be generated by the joint distribution. The simulation example verified that the method could be used to solve the complex question, the operation was quickly and the solution was best.

Distributed Cooperative Control Algorithm for Multi-UAV Mission Rendezvous

Multiple unmanned aerial vehicles(UAVs)cooperative operation is the main form for UAVs fighting in battlefield,and multi-UAV mission rendezvous is the premise of cooperative reconnaissance and attack missions.We propose a rendezvous control strategy,which divides the rendezvous process into two parts:The loose formation rendezvous and the close formation rendezvous.In the first stage,UAVs are supposed to reach the specific target locations simultaneously and form a loose formation.A distributed control strategy based on first-order consensus algorithm is presented to achieve this goal.Then the second stage is designed based on the second-order consensus algorithm to complete the transition from the loose formation to the close formation.This process needs the speeds and heading angles of UAVs to reach an agreement.Besides,control algorithms with a virtual leader are proposed,by which the formation states can reach a specific value.Finally,simulation results show that the control algorithms are capable of realizing the mission rendezvous of multi-UAV and the consistence of UAVs′final states,which verify the effectiveness and feasibility of the designed control strategy.

An improving energy efficiency cooperation algorithm based on Nash bargaining solution in selfish user cooperative networks

A bandwidth-exchange cooperation algorithm based on the Nash bargaining solution （NBS） is proposed to encourage the selfish users to participate with more cooperation so as to improve the users＇ energy efficiency. As a result, two key problems, i.e. , when to cooperate and how to cooperate, are solved. For the first problem, a proposed cooperation condition that can decide when to cooperate and guarantee users＇ energy efficiency achieved through cooperation is not lower than that achieved without cooperation. For the second problem, the cooperation bandwidth allocations （CBAs） based on the NBS solve the problem how to cooperate when cooperation takes place. Simulation results show that, as the modulation order of quadrature amplitude modulation （QAM） increases, the cooperation between both users only occurs with a large signal-to-noise ratio （SNR）. Meanwhile, the energy efficiency decreases as the modulation order increases. Despite all this, the proposed algorithm can obviously improve the energy efficiency measured in bits-per-Joule compared with non-cooperation.

Complex task planning method of space-aeronautics cooperative observation based on multi-layer interaction

With the new development trend of multi-resource coordinated Earth observation and the new goal of Earth observation application of“short response time,high observation accuracy,and wide coverage”,space-aeronautics cooperative complex task planning problem has become an urgent problem to be solved.The focus of this problem is to use multiple resources to perform collaborative observations on complex tasks.By analyzing the process from task assignment to receiving task observation results,we propose a multi-layer interactive task planning framework which is composed of a preprocessing method for complex tasks,a task allocation layer,a task planning layer,and a task coordination layer.According to the characteristics of the framework,a hybrid genetic parallel tabu(HGPT)algorithm is proposed on this basis.The algorithm uses genetic annealing algorithm(GAA),parallel tabu(PT)algorithm,and heuristic rules to achieve task allocation,task planning,and task coordination.At the same time,coding improvements,operator design,annealing operations,and parallel calculations are added to the algorithm.In order to verify the effectiveness of the algorithm,simulation experiments under complex task scenarios of different scales are carried out.Experimental results show that this method can effectively solve the problems of observing complex tasks.Meanwhile,the optimization effect and convergence speed of the HGPT is better than that of the related algorithms.

PSO Clustering Algorithm Based on Cooperative Evolution

Among the bio-inspired techniques,PSO-based clustering algorithms have received special attention. An improved method named Particle Swarm Optimization (PSO) clustering algorithm based on cooperative evolution with multi-populations was presented. It adopts cooperative evolutionary strategy with multi-populations to change the mode of traditional searching optimum solutions. It searches the local optimum and updates the whole best position (gBest) and local best position (pBest) ceaselessly. The gBest will be passed in all sub-populations. When the gBest meets the precision,the evolution will terminate. The whole clustering process is divided into two stages. The first stage uses the cooperative evolutionary PSO algorithm to search the initial clustering centers. The second stage uses the K-means algorithm. The experiment results demonstrate that this method can extract the correct number of clusters with good clustering quality compared with the results obtained from other clustering algorithms.

Secure Localization Algorithm Based on Node Cooperative for Sensor Networks

As to the safety threats faced by sensor networks （SN）, nodes limitations of computation, memory and communication, a secure location algorithm （node cooperative secure localization, NCSL） is presented in this paper. The algorithm takes the improvements of SN location information security as its design targets, utilizing nodes＇ cooperation to build virtual antennae array to communicate and localize, and gains arraying antenna advantage for SN without extra hardware cost, such as reducing multi-path effects, increasing receivers＇ signal to noise ratio and system capa- bility, reducing transmitting power, and so on. Simulations show that the algorithm based on virtual antennae array has good localization ability with a at high accuracy in direction-of-arrival （DOA） estimation, and makes SN capable to resist common malicious attacks, especially wormhole attack, by using the judgment rules for malicious attacks.

Adaptive co-evolution of strategies and network leading to optimal cooperation level in spatial prisoner's dilemma game

We study evolutionary prisoner＇s dilemma game on adaptive networks where a population of players co-evolves with their interaction networks. During the co-evolution process, interacted players with opposite strategies either rewire the link between them with probability p or update their strategies with probability 1 - p depending on their payoffs. Numerical simulation shows that the final network is either split into some disconnected communities whose players share the same strategy within each community or forms a single connected network in which all nodes are in the same strategy. Interestingly, the density of cooperators in the final state can be maximised in an intermediate range of p via the competition between time scale of the network dynamics and that of the node dynamics. Finally, the mean-field analysis helps to understand the results of numerical simulation. Our results may provide some insight into understanding the emergence of cooperation in the real situation where the individuals＇ behaviour and their relationship adaptively co-evolve.

Cooperative detection algorithm of spectrum holes in cognitive radio

To improve the detection performance of sensing users for primary users in the cognitive radio, an optimal cooperative detection algorithm for many sensing users is proposed. In this paper, optimal decision thresholds of each sensing user are discussed. Theoretical analysis and simulation results indicate that the detection probability of optimal decision threshold rules is better than that of determined threshold rules when the false alarm of the fusion center is constant. The proposed optimal cooperative detection algorithm improves the detection performance of primary users as the attendees grow. The 2 dB gain of detection probability can be obtained when a new sensing user joins in, and there is a 17 dB improvement when the accumulation number increases from 1 to 50.

Hybrid Support Vector Regression with Parallel Co-Evolution Algorithm Based on GA and PSO for Forecasting Monthly Rainfall

Accurate and timely monthly rainfall forecasting is a major challenge for the scientific community in hydrological research such as river management project and design of flood warning systems. Support Vector Regression (SVR) is a very useful precipitation prediction model. In this paper, a novel parallel co-evolution algorithm is presented to determine the appropriate parameters of the SVR in rainfall prediction based on parallel co-evolution by hybrid Genetic Algorithm and Particle Swarm Optimization algorithm, namely SVRGAPSO, for monthly rainfall prediction. The framework of the parallel co-evolutionary algorithm is to iterate two GA and PSO populations simultaneously, which is a mechanism for information exchange between GA and PSO populations to overcome premature local optimum. Our methodology adopts a hybrid PSO and GA for the optimal parameters of SVR by parallel co-evolving. The proposed technique is applied over rainfall forecasting to test its generalization capability as well as to make comparative evaluations with the several competing techniques, such as the other alternative methods, namely SVRPSO (SVR with PSO), SVRGA (SVR with GA), and SVR model. The empirical results indicate that the SVRGAPSO results have a superior generalization capability with the lowest prediction error values in rainfall forecasting. The SVRGAPSO can significantly improve the rainfall forecasting accuracy. Therefore, the SVRGAPSO model is a promising alternative for rainfall forecasting.

Memristor-based spiking neural networks:cooperative development of neural network architecture/algorithms and memristors

Inspired by the structure and principles of the human brain,spike neural networks(SNNs)appear as the latest generation of artificial neural networks,attracting significant and universal attention due to their remarkable low-energy transmission by pulse and powerful capability for large-scale parallel computation.Current research on artificial neural networks gradually change from software simulation into hardware implementation.However,such a process is fraught with challenges.In particular,memristors are highly anticipated hardware candidates owing to their fastprogramming speed,low power consumption,and compatibility with the complementary metal–oxide semiconductor(CMOS)technology.In this review,we start from the basic principles of SNNs,and then introduced memristor-based technologies for hardware implementation of SNNs,and further discuss the feasibility of integrating customized algorithm optimization to promote efficient and energy-saving SNN hardware systems.Finally,based on the existing memristor technology,we summarize the current problems and challenges in this field.

Elite Dung Beetle Optimization Algorithm for Multi-UAV Cooperative Search in Mountainous Environments

This paper aims to address the problem of multi-UAV cooperative search for multiple targets in a mountainous environment,considering the constraints of UAV dynamics and prior environmental information.Firstly,using the target probability distribution map,two strategies of information fusion and information diffusion are employed to solve the problem of environmental information inconsistency caused by different UAVs searching different areas,thereby improving the coordination of UAV groups.Secondly,the task region is decomposed into several high-value sub-regions by using data clustering method.Based on this,a hierarchical search strategy is proposed,which allows precise or rough search in different probability areas by adjusting the altitude of the aircraft,thereby improving the search efficiency.Third,the Elite Dung Beetle Optimization Algorithm(EDBOA)is proposed based on bionics by accurately simulating the social behavior of dung beetles to plan paths that satisfy the UAV dynamics constraints and adapt to the mountainous terrain,where the mountain is considered as an obstacle to be avoided.Finally,the objective function for path optimization is formulated by considering factors such as coverage within the task region,smoothness of the search path,and path length.The effectiveness and superiority of the proposed schemes are verified by the simulation.

Cooperative driving model for non-signalized intersections with cooperative games

Cooperative driving around intersections has aroused increasing interest in the last five years.Meanwhile,driving safety in non-signalized intersections has become an issue that has attracted attention globally.In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions,we propose a driving model using cooperative game theory.First,the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety,rapidity and comfort indicators.Second,the Shapley theorem is adopted,and its group rationality,individual rationality,and uniqueness are proved to be suitable for the characteristic functions of the model.Following this,different drivers’characteristics are considered.In order to simplify the calculation process,a zero-mean normalization method is introduced.In addition,a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem.Finally,the model is confirmed as valid after simulation with a series of initial conditions.

Diffusion mechanism simulation of cloud manufacturing complex network based on cooperative game theory

Cloud manufacturing is a specific implementation form of the "Internet + manufacturing" strategy. Why and how to develop cloud manufacturing platform(CMP), however, remains the key concern of both platform operators and users. A microscopic model is proposed to investigate advantages and diffusion forces of CMP through exploration of its diffusion process and mechanism. Specifically, a three-stage basic evolution process of CMP is innovatively proposed. Then, based on this basic process, a more complex CMP evolution model has been established in virtue of complex network theory, with five diffusion forces identified. Thereafter, simulations on CMP diffusion have been conducted. The results indicate that, CMP possesses better resource utilization,user satisfaction, and enterprise utility. Results of simulation on impacts of different diffusion forces show that both the time required for CMP to reach an equilibrium state and the final network size are affected simultaneously by the five diffusion forces. All these analyses indicate that CMP could create an open online cooperation environment and turns out to be an effective implementation of the "Internet + manufacturing" strategy.

Quantum fireworks algorithm for optimal cooperation mechanism of energy harvesting cognitive radio

For acquiring high energy efficiency and the maximal throughput, a new time slot structure is designed for energy harvesting(EH) cognitive radio(CR). Considering the CR system with EH and cooperative relay, a best cooperative mechanism(BCM)is proposed for CR with EH. To get the optimal estimation performance, a quantum fireworks algorithm(QFA) is designed to resolve the difficulties of maximal throughput and EH, and the proposed cooperative mechanism is called as QFA-BCM. The proposed QFA combines the advantages of quantum computation theory with the fireworks algorithm(FA). Thus the QFA is able to obtain the optimal solution and its convergence performance is proved. By using the new cooperation mechanism and computing algorithm, the proposed QFA-BCM method can achieve comparable maximal throughput in the new timeslot structure. Simulation results have proved that the QFA-BCM method is superior to previous non-cooperative and cooperative mechanisms.

Competitive location problem of multi-level pickup point considering cooperative coverage

To occupy a greater market share in terminal distribution, companies are urged to make full use of cooperative coverage formed with brand effect and information sharing in the layout of pickup points. Based on the diversity of pickup points, the piecewise function, signal intensity function and probability function are introduced. Meanwhile, considering the effect of distance satisfaction and cooperation coverage on customer behavior, the location model of the pickup point under competitive environments is established. The genetic algorithm is used to solve the problem, and the effectiveness of the model and algorithm is verified by a case. The results show that the sensitivity of weighted demand coverages to budget decreases gradually. The maximum weighted demand coverage increases at first and then decreases with the increase of the signal threshold, and there is a positive correlation with the change of the actual demand coverage to the senior customers, but it is negatively related to the intermediate and primary customers. When the number of high-level pickup points in a competitive enterprise is small, the advantage of the target enterprise is more significant. Through comparison, the cooperative coverage model is better than the non-cooperative coverage model, in terms of the weighted demand coverage, the construction cost and the attention paid to the important customers.

QMCR:A Q-Learning-Based Multi-Hop Cooperative Routing Protocol for Underwater Acoustic Sensor Networks

Routing plays a critical role in data transmission for underwater acoustic sensor networks(UWSNs)in the internet of underwater things(IoUT).Traditional routing methods suffer from high end-toend delay,limited bandwidth,and high energy consumption.With the development of artificial intelligence and machine learning algorithms,many researchers apply these new methods to improve the quality of routing.In this paper,we propose a Qlearning-based multi-hop cooperative routing protocol(QMCR)for UWSNs.Our protocol can automatically choose nodes with the maximum Q-value as forwarders based on distance information.Moreover,we combine cooperative communications with Q-learning algorithm to reduce network energy consumption and improve communication efficiency.Experimental results show that the running time of the QMCR is less than one-tenth of that of the artificial fish-swarm algorithm(AFSA),while the routing energy consumption is kept at the same level.Due to the extremely fast speed of the algorithm,the QMCR is a promising method of routing design for UWSNs,especially for the case that it suffers from the extreme dynamic underwater acoustic channels in the real ocean environment.

A method for power suppliers’optimal cooperative bidding strategies considering network losses

The bidding strategies of power suppliers to maximize their interests is of great importance.The proposed bilevel optimization model with coalitions of power suppliers takes restraint factors into consideration,such as operating cost reduction,potential cooperation,other competitors’bidding behavior,and network constraints.The upper model describes the coalition relationship between suppliers,and the lower model represents the independent system operator’s optimization without network loss(WNL)or considering network loss(CNL).Then,a novel algorithm,the evolutionary game theory algorithm(EGA)based on a hybrid particle swarm optimization and improved firefly algorithm(HPSOIFA),is proposed to solve the bi-level optimization model.The bidding behavior of the power suppliers in equilibrium with a dynamic power market is encoded as one species,with the EGA automatically predicting a plausible adaptation process for the others.Individual behavior changes are employed by the HPSOIFA to enhance the ability of global exploration and local exploitation.A novel improved firefly algorithm(IFA)is combined with a chaotic sequence theory to escape from the local optimum.In addition,the Shapley value is applied to the profit distribution of power suppliers’cooperation.The simulation,adopting the standard IEEE-30 bus system,demonstrates the effectiveness of the proposed method for solving the bi-level optimization problem.