Orbital Research Swarm Algorithms User Manual

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Orbital Research, Inc.
4415 Euclid Ave., Suite 500

leveland, OH 44103-3733

Contact: Frederick J. Lisy, Ph.D.

Telephone (216) 649-0399

efficient routing of packages through a carrier. These

algorithms combine the efficiency of graph theory with the
power of swarm algorithms to produce a package that can
provide efficient paths while considering important factors
such as package type and priority, carrier status level,
current bottlenecks, and broken conveyors/elevators.

SWEEP-Re (Swarm Experimentation and Evaluation
Platform, Recursive) is Orbital Research's autonomous
agent simulation and modeling tool suite. The SWEEP-Re
model consists of four modules: ACT, ICE, HIVE, and
EPIC. The Agent Control Toolbox (ACT) is the main
controller for the agent. The Hybrid Integrated Virtual

Environment (HIVE) is a model of the environment in
which the agents reside. The Evaluatory Probes and
Interactive Control (EPIC) module enables users to gather
data from all parts of the simulation and also to change
run-time parameters on-the-fly. Finally, all of the previous

components are tied together through the Independent
Communications Layer (ICE), which is an XML enabled
protocol that provides methods of translating
communiqués between two independent sources.
The current state of the art in swarm algorithm
development is relegated to a tedious trial-and-error

methodology due to the complex behaviors that arise
from the large numbers of agent interactions. Orbital
Research has leveraged evolutionary programming to

automate and streamline the process of swarm algorithm development.

Evolutionary programming is another biologically-inspired technique that
uses concepts borrowed from the theories of Darwinian and Lamarckian
evolution that allow computer programs to compete for survival.
Orbital Research has developed a component-based evolutionary
programming package that is fully interoperable with the SWEEP-Re
simulation system and has been successfully used to evolve many

standard swarm algorithms.

Orbital Research is maintaining its competitive advantage in this field by
conducting substantial research and development into new types of
swarm algorithms, new tools for their development and application.
New approaches based upon complex systems theory are being used for

rigorous examination of the properties of swarm algorithms and to
provide new methods for algorithm generation. Applications such as
information fusion, data mining, and data routing in computer networks
are being developed using swarm algorithms. The versatility and
robustness of the swarm intelligence-based algorithms developed at
Orbital Research coupled with new theoretical results being produced by

researchers ensures that

will continue

to be a leader in the field of swarm intelligence algorithms.

Swarm algorithms are also being used to enable the low

cost exploration of space. A new concept for the
exploration of Mars calls for the use of large groups of

lightweight, wind driven rovers based upon the Russian
Thistle or tumbleweed. These groups of Martian rovers
use swarm algorithms to coordinate their behaviors while
using nothing more than wind as their motive power. In
addition, this concept and the technologies developed for

it have relevance to the exploration, surveillance and
reconnaissance of any dangerous or inaccessible
environment.

Orbital Research

Swarm Algorithm Development

Future Directions and Ongoing Research

www.orbitalresearch.com

Rev F: RMK-12-09-2003

Autonomous Martian

based upon tumbleweeds,

use swarm algorithms for cooperative control.

Rovers,

Autonomous submunitions swarm to prosecute multiple targets.

This algorithm development suite enables rapid formulation of control systems

for complex systems, including human-in-the-loop (HIL) systems