Swarm Intelligence: 7th International Conference, ANTS 2010, Brussels, Belgium,September 8-10, 2010 Proceedings (Lecture Notes in Computer Science, 6234)

Title
Preface
Organization
Table of Contents
A Graph-Based Developmental Swarm Representation and Algorithm
	Introduction
	Related Work
		Complex CDMs
		Graph-Based CDMs
		Swarm-Based CDMs
	Swarm Graph Grammars
		Representation
		Algorithm
	Swarm Graph Grammars in Action
		Boids
		Stigmergic Construction
		Swarm Development
	Summary and Future Work
	References
A Modified Particle Swarm OptimizationAlgorithm for the Best Low Multilinear Rank Approximation of Higher-Order Tensors
	Introduction
	Low Multilinear Rank Approximation Problem
		Tensor Generalities
		Problem Statement
		Local Minima
		The Grassmann Manifold G(p,n)
	Particle Swarm Optimization
		PSO in Rn
		GCPSO and Gradient
		Adapting GCPSO to the Grassmann Manifold G(p,n)
		PSO in G(R1,I1)G(R2,I2)G(R3,I3)
	Numerical Results
	Conclusion
	References
A Robotic Validation of the Attractive FieldModel: An Inter-disciplinary Model of Self-regulatory Social Systems
	Introduction
	The Attractive Field Model
		Generic Interpretation
		Robotic Interpretation
		A Manufacturing Shop-Floor Interpretation
	Implementation
		Design of Our Communication System
		Our Current Implementation
	Experiment Design
		Parameters
		Observables
	Results and Discussions
	Conclusion and Future Work
	References
A Thermodynamic Approach to the Analysis of Multi-robot Cooperative Localization under Independent Errors
	Introduction
	Model
	Average Free Path
	The Covariance Matrix
		Using a Landmark
	Discussion and Simulations
	Previous Work
	Conclusion
	References
An Alternative ACOR Algorithm for Continuous Optimization Problems
	Introduction
	TheACO$_R$ Algorithm
	The Proposed Alternative ACO$_R$ Algorithm (DACO$_R$)
	Experimental Study
		The Adopted Test Suite
		Parameters Settings for ACO$_R$ and DACO$_R$
		Performance of ACO$_R$ and DACO$_R$ on the Selected Problems
	Discussion and Conclusions
	References
An Efficient Optimization Method for Revealing Local Optima of Projection Pursuit Indices
	Introduction
	Exploratory Projection Pursuit
		The Friedman Index
		The Kurtosis Index
	Bio-inspired Algorithms
		Particle Swarm Optimization (PSO)
		Tribes
	Application
		Simulated Data
		Olive Data
	Conclusion
	References
Ant Colony Optimisation for Ligand Docking
	Introduction
		Motivation
	Materials and Methods
		Problem Representation
		Algorithm
		Parameter Optimisation and Validation
	Results and Discussion
	Conclusions and Future Work
	References
Antbots: A Feasible Visual Emulation of Pheromone Trails for Swarm Robots
	Introduction
	Materials and Methods
		Base Robot: E-Puck
		Glow-Paint Floor
		Nest, Food and an Artificial Sun as a Navigational Aid
		Add-on Boards: Trail-Laying and Sun Compass Extension
		Simulation Using Netlogo
		Control Program
	Results
		Foraging Efficiency in Simulation
		Experiments with the e-Puck Robot Add-Ons
	Discussion and Outlook
	References
Automatic Configuration of Multi-Objective ACO Algorithms
	Introduction
	Experimental Studies on MOACO Algorithms
	A Configurable MOACO Framework
	Automatic Configuration of MOACO Framework
	Comparison with Existing MOACO Algorithms
	Conclusions
	References
Autonomous Morphogenesis in Self-assembling Robots Using IR-Based Sensing and Local Communications
	Introduction
	SYMBRION Robots and Their Docking Sensors
	Robot Controller Design
		A Finite State Machine
		Local Communication
		Behaviours
	Recruitment Strategies
	Results and Discussion
	Conclusions and Future Work
	References
Autonomous Multi-agent Cycle Based Patrolling
	Introduction and Related Work
	Previous Work
	Finding Good Patrolling Routes
		Hamiltonian Graphs
		Non-Hamiltonian Graphs
		Weighted Graphs
		Discussion and Simulations
	SwarmDeployment
		The Deployment Algorithm
		Simulations
	Bundling the Algorithms
	Conclusion
	References
Biologically Realistic Primitives for Engineered Morphogenesis
	Introduction
	Related Work
	Assumptions
	Model
	Primitives
		Constrained Growth Using Morphogen Gradients
		Multiple Gradients
		Position Information
		Cascading Effects
	Conclusion
	References
Evaluating the Robustness of Activator-Inhibitor Models for Cluster Head Computation
	Introduction
	Chemical Kinetics and Reaction-Diffusion Systems
	Activator-Inhibitor Models
		The Gierer-Meinhardt Activator-Inhibitor Model
		Activator-Depleted Substrate Model
	Experimental Setup
	Results
	Conclusions
	References
Evolution of Self-organised Path Formationin a Swarm of Robots
	Introduction
	Experimental Setup
		The Robots and the Environment
		The Controller and the Evolutionary Algorithm
	Obtained Results and Behavioural Analysis
	Generalisation Abilities
	Discussion and Conclusions
	References
Extensions to the Ant-Miner Classification RuleDiscovery Algorithm
	Introduction
	Ant-Miner Algorithm
		Pheromone Initialization and Update
		Term Selection
	Related Work
	Using Logical Negation Operator in Rule Antecedents
	Using Stubborn Ants
	Multi-Pheromone Ant System
	Ants with Personality
	Experimental Methodology
	Experimental Results
	Concluding Remarks
	References
Functional Blueprints: An Approach to Modularity in Grown Systems
	Introduction
		Related Work
	Stress Tolerance Enables Integrated Growth
	Functional Blueprints
	Example Application: Tissue Growth
		Cell Density
		Vascularization
		Composite Behavior
	Contributions
	References
Heterogeneous Particle Swarm Optimization
	Introduction
	Homogeneous Particle Swarm Optimizers
		Traditional Position and Veclosity Updates
		Cognitive-Only Model
		Social-Only Model
		Barebones PSO
		Modified Barebones PSO
	Heterogeneous Particle Swarm Optimization
	Empirical Results
	Conclusions
	References
Modern Continuous Optimization Algorithms for Tuning Real and Integer Algorithm Parameters
	Introduction
	Tuning Algorithms
		Basic Algorithms
		Enhancing Noise Tolerance
	Benchmark Tuning Problems
	Experiments
		Experimental Setup
		Settings of the Sampling Algorithms
		Comparisons of Continuous Optimization Algorithms
		Comparison between the Tuned and Default Configurations
	Conclusions
	References
Multi-agent Deployment on a Ring Graph
	Introduction
	Related Work
	Preliminaries
	Uniform Spread
		Impossibility Results
		Uniform Spread on Oriented Ring
	Quiescent Uniform Spread
		Impossibility Result
		Quiescent Semi-stable Configuration
	Conclusion
	References
Multi-Swarm Optimization for Dynamic Combinatorial Problems: A Case Study on Dynamic Vehicle Routing Problem
	Introduction
	Multi-population Approaches for Dynamic Optimization Problems
	Problem Description
		The Static Vehicle Routing Problem
		The Dynamic Vehicle Routing Problem
	Multi-Adaptive Particle Swarm Optimization
		Particle Swarm Optimization
		Adaptive Particle Swarm Optimization
		Adaptive Particle Swarm for Solving Dynamic Vehicle Routing Problem
		Multi-Swarm Optimizer
	Experimental Analysis
		Numerical Results
		Performance Assessment
	Conclusion and Future Work
	References
Off-line vs. On-line Tuning: A Study on $MAX–MIN$ Ant System for the TSP
	Introduction
	$MAX–MIN$ Ant System
	Approaches for Off-line and On-line Tuning
	Experimental Setup
	Experimental Results
	Conclusions
	References
Opinion Dynamics for Decentralized Decision-Making in a Robot Swarm
	Introduction
	Related Work
	Opinion Dynamics and Decentralized Decision-Making
		Opinion Dynamics Model and Decision Rules
		Opinion Dynamics, Actions, and Robots
	Evaluation Scenario and Setup
		The Task
		Setup
	Results
		Probability of Selecting the Fastest-to-Execute Action
		Number of Team Formations Needed to Reach Consensus
	Conclusions and Future Work
	References
Positional Communication and Private Information in Honeybee Foraging Mo
	Introduction
	Related Work
	Model of Colony Foraging
		World
		Flowers
		Bees and Movement
		Bee Roles
		Flower Quality, Foraging, and Recruitment
		Hypothetical Communication Models
	Results
	Conclusion
	References
Rank Based Particle Swarm Optimization
	Introduction
	Particle Swarm Optimization (PSO)
	The Proposed Particle Swarm Optimizer
		Rank Based Particle Swarm Optimizer (RPSO)
		RPSO with Diggers (RPSO-D)
	Experimental Results
		GBest Behaviour in RPSO-D
	Conclusion
	References
Self-organized Task Partitioning in a Swarm of Robots
	Introduction
	Problem Description and Related Works
	The Method
	Experimental Setup
		Simulation Tools
		Harvesting Abstraction
		Environments
		Experimental Settings
	Results and Discussion
	Conclusions
	References
Slime Mold Inspired Path Formation Protocol for Wireless Sensor Networks
	Introduction
	A Phenomenological Model for Slime Mold
	Protocol Description
		Local Data Structures
		Local Computation
		Synchronization
		Issue of Asymmetric Neighborhood
	Validation with Stability Analysis
		Validation
		Linear Stability Analysis
	QualNet Simulation
	Conclusion
	References
Solving the Multi-dimensional Multi-choice Knapsack Problem with the Help of Ants
	Introduction
	ACO and Multi-dimensional KP
	Description of the Proposed Algorithm
		Variation 1: AntMMKP-Random
		Variation 2: AntMMKP-topdatabase
	Experimental Results
	Conclusions
	References
Theoretical Properties of Two ACO Approaches for the Traveling Salesman Problem
	Introduction
	Problem and Algorithms
		The Input Graph as Construction Graph
		An Edge-Based Construction Graph
	Number of Edge Exchanges
		The Behavior of MMAS*$_Ord$
		The Behavior of MMAS*$_Arb$
	Runtime Bounds
		A Simple Instance
		Random Instances
	Conclusions
	References
Short Papers
	A Cooperative Network Game Efficiently Solved via an Ant Colony Optimization Approach
		General Network Game
			Definition
		Instructions for the CNG
			Score for the CNG
		Ideal Approach for the CNG
		Feasible Approach Based on Ant Workers
		Numerical Results
			Comparison with Historical Strategies
			Results
		Conclusions
		References
	A Deterministic Metaheuristic Approach Using“Logistic Ants” for Combinatorial Optimization
		Introduction
		The Logistic Ant Model for TSP
			Metaheuristic Principles of Ant Algorithms
			The Environment Design
			Design of the Logistic Ant
			Inside the Logistic Ant
			Reaction of the Environment
		Simulation and Results of the Logistic Ant Algorithm
		Discussion and Interpretation of the Logistic Ant Algorithm
		Conclusion
		References
	A Model Based Ant Colony Design for the Protein Engineering Problem
		Introduction
		The Methodological Approach
			Model Based Ant Colony Design (MACD)
			The Protein Engineering Problem
		Simulation Setting
			The Data Generating Models (DGM)
			Results
		Conclusion
		References
	ACOPHY: A Simple and General Ant Colony Optimization Approach for Phylogenetic Tree Reconstruction
		Introduction
		ACOPHY
			Construction Graph
			Pheromone Trail and Heuristic Information
			Solution Construction and Pheromone Update
			The Overall ACOPHY Algorithm
		Performance Study
			Data Simulation
			Results
		Discussions
		References
	ACS Searching for D$_4t$-Hadamard Matrices
		Introduction
		Describing the Rooted Trees
		Defining the ACS
		Examples
		References
	Ant Based Semi-supervised Classification
		Introduction
		Proposed Methodology: Aggregation Pheromone Density Based Semi-Supervised Classification(APSSC)
		Experimental Evaluation
			Data Sets
			Methods Compared
			Role of the Parameters
			Experimental Results and Analysis
		Conclusions
		References
	Automatic Generation of Optimised Working Time Models in Personnel Planning
		Introduction
		Description of the Real-World Problem from a Retailer
		Related Work
		Constructive Method
		Particle Swarm Optimisation
		Evolution Strategy
		Results and Discussion
		Conclusions
		References
	Bee-Sensor: A Step Towards Meta-Routing Strategies in Hybrid Ad Hoc Networks
		Introduction
		Challenges in the Design of a Meta-Routing Protocol
		BeeSensor as a Meta-Routing Protocol
			Agent Model
			Working of BeeSensor Protocol
		Empirical Evaluation Framework
		Discussion on Results
			Packet Delivery Ratio
			Latency
			Normalized Routing Load
			Energy Efficiency
		Modifications to Original Design of BeeSensor
		Conclusions and Future Work
		References
	Cooperation in a Heterogeneous Robot Swarm through Spatially Targeted Communication
		Introduction
		Related Work
		Methodology
		Experiments and Results
			The Three Control Strategies
			Benefits of Cooperation in the Heterogeneous Robot Swarm
			Benefits of Spatially Targeted Communication
		Conclusions and Future Work
		References
	Early-Stage Diagnosis of Endogenous Diseases by Swarms of Nanobots: An Applicative Scenario
		Introduction
		In vivo Monitoring at Circulatory-System Level
		Swarm of Nanobots for Surveilling the Organism
		Nanobot Task: Localization and Data Transmission
		Conclusions
		References
	EDA-PSO: A Hybrid Paradigm Combining Estimation of Distribution Algorithms and Particle Swarm Optimization
		Introduction and Motivation
		Estimation of Distribution Algorithms
		Hybridation of Estimation of Distribution Algorithms and Particle Swarm Optimization
		Experiments
		Conclusions and Future Work
		References
	Emergent Flocking with Low-End Swarm Robots
		Introduction
		Material and Methods
			Algorithm Requirements
			Simulator
			Flocking Algorithm
		Results
			Threshold Analysis
			Real Experiments
		Discussion
		References
	Exploiting Loose Horizontal Coupling in Evolutionary Swarm Robotics
		Introduction
		Complex Systems and Evolution
			Complex Systems as Hierarchies
			Linking Complexity and Evolution
		Swarm Robots and Speedier Evolution
		Potential Criticisms
		Conclusion and Future Work
		References
	Formal Verification of Probabilistic Swarm Behaviours
		Introduction
		The Foraging Robot Scenario
		Modelling and Verifying the Scenario
		Experiments
			Swarm Model with Resting Timeout
			Swarm Model without Resting Timeout
		Conclusions
		References
	Inverse Modeling in GeoenvironmentalEngineering Using a Novel Particle Swarm Optimization Algorithm
		Introduction
		Contaminant Transport Problem
			Mathematical Formulation
			Numerical Solution
		PSO Algorithms
			PSO Description
			Big-Bang Big-Crunch Algorithm
			Proposed Algorithm
		Inverse Analysis
			Parameter Setting
			Performance Assessment of Different Solvers
			Application to the Experimental Data
		Concluding Remarks
		References
	Mobile Stigmergic Markers for Navigation in a Heterogeneous Robotic Swarm
		Introduction
		Related Work
		Self-organized Path Finding
			General Description
			Giving and Following Directional Instructions
			Updating Eye-Bot Positions
			Updating Eye-Bot Directions
		Experimental Results
			Tests in an Uncluttered Environment: Shortest Path Behavior
			Experiments in a Cluttered Environment
			Experiments in More Complex Environments
		Conclusions and Future Work
		References
	Motif Finding Using Ant Colony Optimization
		Introduction
		The Motif Finding Problem
		The Proposed Approach (MFACO)
			Initialization
			Solution Construction
			Pheromone Update
		Computational Experiments
		Conclusions
		References
	Multiple Ant Colony System for Substructure Discovery
		Introduction
		Our Proposal: A Multiple Ant Colony System for Substructure Discovery
			Problem Representation
			Customization of Multiple Ant Colony System for Substructure Discovery
		Experiments and Analysis of Results
			Datasets
			Experiments
			Results
		Conclusion
		References
	Opportunistic Ant-Based Path Management for Wireless Mesh Networks
		Introduction
		Opportunistic Ant System
			Opportunistic Forwarding of Ants
			Adaptive Pruning of Forwarding Nodes
			Node States
		Preliminary Evaluation
			Settings
			Results
		Summary and Future Work
		References
	Parallel Ant Colony Optimization Algorithm on a Multi-core Processor
		Introduction
		A Brief Overview of cAS tsutsui-ppsn
		Parallelization of cAS on a Multi-core Processor
		Experimental Results and Analysis
			Experimental Conditions and Test Instances
			Performance of Parallel cAS
		Conclusions
		References
	Particle Swarm Optimization in High Dimensional Spaces
		Inverse Problems, Uncertainty and the Curse of Dimensionality
		PSO and Model Reduction Techniques
		Application to the History Matching Problem
		Conclusions
		References
	Particle Swarm Optimization of Bollinger Bands
		Introduction
		Bollinger Bands
		Particle Swarm Optimization
		Fitness Functions
		Data Description and Experiment Design
		Experimental Results
		Discussion
		Conclusions and Future Work
		References
	Protein Structure Prediction in Lattice Models with Particle Swarm Optimization
		Introduction
		Protein Structure Prediction Problem
		Particle Swarm Optimization
		PSO for Protein Structure Prediction
			Folding Representation
			Particle Search Space
		Experimental Results
		Conclusions
		References
	Short and Robust Communication Paths in Dynamic Wireless Networks
		Introduction
		Global Analysis
		Ant-Based Construction and Maintaining of Robust Paths
			Description of the Model
			Algorithm
			Memory of the Pheromone Trails
		Simulations and Results
			Multi-Objective Optimization
			Parameters and Results
			Analysis of the Pheromone Trail Memory Heuristic
		Conclusion
		References
	The ACO Encoding
		Introduction
		The ACO Encoding
		Experiments and Discussion
		Conclusions
		References
	The Complexity of Grid Coverage by Swarm Robotics
		Introduction
		Related Work
		The Dynamic Cooperative Cleaners Problem
		Grid Coverage — Analysis
		Conclusions
		References
	The Design of an Active Structural Vibration Reduction System Using a Modified Particle Swarm Optimization
		Introduction
		Structure Model
		Particle Swarm Optimization
		Proposed PSO Modification
			Fitness Function
		Results
		Conclusions
		References
	Extended Abstracts
		Ant Colony Extended: Search in Solution Spaces with a Countably Infinite Number of Solutions
			Harvester Ants: How to Set a Search Zone
			Results and Discussion
			References
		Automatic Parameter Configuration of Particle Swarm Optimization by Classification of Function Features
			References
		Constructing Low-Cost Swarm Robots That March in Column Formation
			References
		Coordinating Heterogeneous Swarms through Minimal Communication among Homogeneous Sub-swarms
			References
		Effect of Particle Initialization on the Performance of Particle Swarm Niching Algorithms
			References
		Energy Efficient Swarm Deployment for Search in Unknown Environments
			References
		Genetic Encoding of Robot Metamorphosis: How to Evolve a Glider with a Genetic Regulatory Network
			References
		How Ant Systems Can Help in Management of pH for Industrial Wastewater Discharges
			References
		Hybrid Metaheuristic Combining Ant Colony Optimization and H-Method
			References
		Increasing Individual Density Reduces Extra-Variance in Swarm Intelligence
			References
		“Look out!”: Socially-Mediated Obstacle Avoidance in Collective Transport
			References
		On Possible Connections between Ant Algorithms and Random Matrix Theory
			References
		Soft Variable Fixing in Path Relinking: An Application to ACO Codes
			References
		Training Randomly Connected, Recurrent Artificial Neural Networks Using PSO
			References
	Author Index