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Navigation of Distinct Euclidean Particles via Hierarchical Clustering [chapter]

Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
2015 Springer Tracts in Advanced Robotics  
We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to  ...  We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to  ...  . , n} ⊂ N, a configuration, x = (x i ) i∈J , is a labeled placement of |J| = n distinct Euclidean particles, x i .  ... 
doi:10.1007/978-3-319-16595-0_2 fatcat:a4q7gqkrjrfojd3du6l5ker3da

Hierarchically clustered navigation of distinct Euclidean particles

Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
2012 2012 50th Annual Allerton Conference on Communication, Control, and Computing (Allerton)  
Disciplines Electrical and Computer Engineering | Engineering | Systems Engineering Comments BibTeX entry Abstract-This paper introduces and solves the problem of cluster-hierarchy-invariant particle navigation  ...  Namely, we are given a desired goal configuration, x * ∈ Conf R d , J and τ , a specified cluster hierarchy that the goal supports.  ...  . , n} ⊂ N, a configuration, x = (x i ) i∈J , is a labeled placement of |J| = n distinct Euclidean particles, x i .  ... 
doi:10.1109/allerton.2012.6483320 dblp:conf/allerton/ArslanGK12 fatcat:576s7wlduzejdo26thshoteosa

Coordinated Robot Navigation via Hierarchical Clustering

Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
2016 IEEE Transactions on robotics  
of hierarchical clustering method.  ...  We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots.  ...  A preliminary version of this paper is presented in the conference paper [1] for point particles and a certain choice of hierarchical clustering.  ... 
doi:10.1109/tro.2016.2524018 fatcat:vfcsclh54jh2jjl63njzdywaxm

Coordinated Robot Navigation via Hierarchical Clustering [article]

Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek
2015 arXiv   pre-print
of hierarchical clustering method.  ...  We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots.  ...  The authors would like to thank Yuliy Baryshnikov and Fred Cohen for discussions on the topology of configuration spaces.  ... 
arXiv:1507.01637v1 fatcat:zz6fabnu5ffvxdhowdcjgwjv7y

Perceptual Dominant Color Extraction by Multidimensional Particle Swarm Optimization

Serkan Kiranyaz, Stefan Uhlmann (EURASIP Member), Turker Ince, Moncef Gabbouj
2010 EURASIP Journal on Advances in Signal Processing  
In this paper, we address dominant color extraction as a dynamic clustering problem and use techniques based on Particle Swarm Optimization (PSO) for finding optimal (number of) dominant colors in a given  ...  Color is the major source of information widely used in image analysis and content-based retrieval.  ...  As the process of identifying natural groupings in a multidimensional data space based on some distance metric (e.g., Euclidean), data clustering can be divided into two main categories: hierarchical and  ... 
doi:10.1155/2009/451638 fatcat:qwkyipwwobezdaccb7volqxtge

A Review of Subsequence Time Series Clustering

Seyedjamal Zolhavarieh, Saeed Aghabozorgi, Ying Wah Teh
2014 The Scientific World Journal  
Clustering of subsequence time series remains an open issue in time series clustering.  ...  One of the useful fields in the domain of subsequence time series clustering is pattern recognition. To improve this field, a sequence of time series data is used.  ...  Acknowledgment This work is supported by University of Malaya High Impact Research Grant no. vote UM.C/625/HIR/MOHE/SC/13/2 from Ministry of Education, Malaysia.  ... 
doi:10.1155/2014/312521 pmid:25140332 pmcid:PMC4130317 fatcat:ptmtjuq77rdhjpr4g2rhwvh4xa

A Drones Optimal Path Planning Based on Swarm Intelligence Algorithms

Mahmoud Ragab, Ali Altalbe, Abdullah Saad Al-Malaise ALGhamdi, S. Abdel-khalek, Rashid A. Saeed
2022 Computers Materials & Continua  
The design of clustering and routing techniques for IoD networks in smart cities shows the novelty of the study.  ...  In addition, the SIRSS-CIoD technique derives a tuna swarm algorithm-based clustering (TSA-C) technique to choose cluster heads (CHs) and organize clusters in IoV networks.  ...  Acknowledgement: The authors extend their appreciation to the Deputyship for Research & Innovation, Ministry of Education in Saudi Arabia for funding this research work through the project number (IFPIP  ... 
doi:10.32604/cmc.2022.024932 fatcat:kqup47z7jvfs7bds4rqmkd3rki

Survey on wireless sensor networks: energy efficient optimization routing algorithms

V. Sivasankarareddy, G. Sundari
2020 Indonesian Journal of Electrical Engineering and Computer Science  
Depiction of optimizing strategies like particle swarm optimization set of rules as well as ant swarm optimization Formula is already possible for lowering the electricity loss and complements the life  ...  In this paper, current procedures in escaping power utilization of Wireless Sensor Network in addition to distinctive protocols and also Methods are researched.  ...  A take a look at on clustering algorithms for WSNs is given in [5] The clustering strategies checked out in those documents distinctively perceive the structure and additionally control of the community  ... 
doi:10.11591/ijeecs.v19.i2.pp756-765 fatcat:pimrtd5y7fglfk56sba677g3au

Multivariate volume visualization through dynamic projections

Shusen Liu, Bei Wang, Jayaraman J. Thiagarajan, Peer-Timo Bremer, Valerio Pascucci
2014 2014 IEEE 4th Symposium on Large Data Analysis and Visualization (LDAV)  
Right: during the TF design process, we exploit relations among different parts of the data by exploring various subspace views via the navigation panel, and further modify and refine the TF.  ...  For large volumetric datasets, we maintain interactivity during the transfer function design via intelligent sampling and scalable clustering.  ...  This result demonstrates the effectiveness of our subspace clustering in identifying distinct substructures.  ... 
doi:10.1109/ldav.2014.7013202 dblp:conf/ldav/LiuWTBP14 fatcat:j7vcl6uul5eslfopaw3mausyv4

Using articulated scene models for dynamic 3d scene analysis in vista spaces

Niklas Beuter, Agnes Swadzba, Franz Kummert, Sven Wachsmuth
2010 3D Research  
This information of the articulated scene model enables a mobile robot to detect and keep track of interaction partners, to navigate safely through the environment and finally, to strengthen the interaction  ...  The combination of the static scene, the self-moving entities and the movable objects in one articulated scene model enhances the calculation of each single part.  ...  We apply a hierarchical clustering using the complete linkage algorithm 2 , which, choosing a small branching factor in the hierarchical tree, deliberately over-segments the scene, generating many small  ... 
doi:10.1007/3dres.03(2010)04 fatcat:niwxmk2nubbffjdl5muf3jrxyu

Multi-dimensional Particle Swarm Optimization for dynamic clustering

Serkan Kiranyaz, Turker Ince, Alper Yildirim, Moncef Gabbouj
2009 IEEE EUROCON 2009  
An extensive set of experiments demonstrate that the proposed dynamic clustering technique based on MD PSO with FGBF can extract the optimal (number of) clusters by converging to the global optimum of  ...  In order to test and evaluate their clustering performance in terms of accuracy, robustness and scalability, a synthetic data-set, which contains ground-truth clusters and offers a broad range of complexity  ...  Euclidean), data clustering can be divided into two main categories: hierarchical and partitional [7] .  ... 
doi:10.1109/eurcon.2009.5167823 fatcat:mypmixxqv5dfpbdakxkgzxq5my

Dynamic 3D scene analysis for acquiring articulated scene models

Agnes Swadzba, Niklas Beuter, Sven Wachsmuth, Franz Kummert
2010 2010 IEEE International Conference on Robotics and Automation  
The system extracts essential knowledge about the foreground, like moving persons, and the background, which consists of all visible static scene parts.  ...  To build the clusters, we apply a hierarchical clustering using the complete linkage algorithm [20] , also called furthest neighbor, to describe the distance between two clusters.  ...  Laser range scanners deliver one scanning line of accurate distance measurements often used for navigation tasks [8] , [9] . 3D Time-of-Flight (ToF) Sensors [10] , [11] combine the advantage of active  ... 
doi:10.1109/robot.2010.5509225 dblp:conf/icra/SwadzbaBWK10 fatcat:uht7qpj34baehedil3xacul4e4

Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy

Patrick Beeson, Joseph Modayil, Benjamin Kuipers
2009 The international journal of robotics research  
Our framework is based on a computational model of the human cognitive map; thus it allows robust navigation and communication within several different spatial ontologies.  ...  We propose a factored approach to mobile robot mapbuilding that handles qualitatively different types of uncertainty by combining the strengths of topological and metrical approaches.  ...  Research of the Intelligent Robotics lab is supported in part by grants from the National Science Foundation (IIS-0413257 and IIS-0538927), from the National Institutes of Health (EY016089), and by an  ... 
doi:10.1177/0278364909100586 fatcat:g46ktrb5dzc4xp7rzlyu3mfjxy

Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey

NITIN KUMAR DHIMAN, DIPTI DEODHARE, DEEPAK KHEMANI
2015 Sadhana (Bangalore)  
SLAM is the process of creating a map of the environment, sometimes unknown apriori, while at the same time localizing the robot in the same map.  ...  The map could be one of different types i.e. metrical, topological, hybrid or semantic.  ...  A sum of squared-euclidean-distance-metric is used to measure accuracy of the match between clusters. A verification index is used to measure the similarity of maps.  ... 
doi:10.1007/s12046-015-0402-6 fatcat:33hu7lxwsja2fdjepsdxjczd54

Indoor positioning and wayfinding systems: a survey

Jayakanth Kunhoth, AbdelGhani Karkar, Somaya Al-Maadeed, Abdulla Al-Ali
2020 Human-Centric Computing and Information Sciences  
Most of the outdoor navigation systems adopt GPS and Global Navigation Satellite System (GLONASS) to track the user's position.  ...  In the past, considerable number of navigation systems were developed for accessing outdoor and indoor environments.  ...  The precision of the system increased up to 91.1% via the introduction of a confidence measure.  ... 
doi:10.1186/s13673-020-00222-0 fatcat:m7lt5zdcjbbsvlh7fwatjvpx6y
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