Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

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dc.contributor.authorYinka-Banjo, Chika
dc.contributor.authorOsunmakinde, Isaac O
dc.contributor.authorBagula, Antoine
dc.date.accessioned2021-10-08T07:08:21Z
dc.date.available2021-10-08T07:08:21Z
dc.date.issued2014
dc.description.abstractUnderground mining operations are carried out in hazardous environments. To prevent disasters from occurring, as often as they do in underground mines, and to prevent safety routine checkers from disasters during safety inspection checks, multirobots are suggested to do the job of safety inspection rather than human beings and single robots. Multirobots are preferred because the inspection task will be done in the minimum amount of time. This paper proposes a cooperative behaviour for a multirobot system (MRS) to achieve a preentry safety inspection in underground terrains. A hybrid QLACS swarm intelligent model based on Q-Learning (QL) and the Ant Colony System (ACS) was proposed to achieve this cooperative behaviour in MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS optimizes the routes used for each robot while the QL algorithm enhances the cooperation between the autonomous robots. A description of a communicating variation within the QLACS model for cooperative behavioural purposes is presented. The performance of the algorithms in terms of without communication, with communication, computation time, path costs, and the number of robots used was evaluated by using a simulation approach. Simulation results show achieved cooperative behaviour between robots.
dc.identifier.apacitationYinka-Banjo, C., Osunmakinde, I. O., & Bagula, A. (2014). Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains. <i>Mathematical Problems in Engineering</i>, 2014(4), 174 - 177. http://hdl.handle.net/11427/34561en_ZA
dc.identifier.chicagocitationYinka-Banjo, Chika, Isaac O Osunmakinde, and Antoine Bagula "Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains." <i>Mathematical Problems in Engineering</i> 2014, 4. (2014): 174 - 177. http://hdl.handle.net/11427/34561en_ZA
dc.identifier.citationYinka-Banjo, C., Osunmakinde, I.O. & Bagula, A. 2014. Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains. <i>Mathematical Problems in Engineering.</i> 2014(4):174 - 177. http://hdl.handle.net/11427/34561en_ZA
dc.identifier.issn1024-123X
dc.identifier.issn1026-7077
dc.identifier.issn1563-5147
dc.identifier.ris TY - Journal Article AU - Yinka-Banjo, Chika AU - Osunmakinde, Isaac O AU - Bagula, Antoine AB - Underground mining operations are carried out in hazardous environments. To prevent disasters from occurring, as often as they do in underground mines, and to prevent safety routine checkers from disasters during safety inspection checks, multirobots are suggested to do the job of safety inspection rather than human beings and single robots. Multirobots are preferred because the inspection task will be done in the minimum amount of time. This paper proposes a cooperative behaviour for a multirobot system (MRS) to achieve a preentry safety inspection in underground terrains. A hybrid QLACS swarm intelligent model based on Q-Learning (QL) and the Ant Colony System (ACS) was proposed to achieve this cooperative behaviour in MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS optimizes the routes used for each robot while the QL algorithm enhances the cooperation between the autonomous robots. A description of a communicating variation within the QLACS model for cooperative behavioural purposes is presented. The performance of the algorithms in terms of without communication, with communication, computation time, path costs, and the number of robots used was evaluated by using a simulation approach. Simulation results show achieved cooperative behaviour between robots. DA - 2014 DB - OpenUCT DP - University of Cape Town IS - 4 J1 - Mathematical Problems in Engineering LK - https://open.uct.ac.za PY - 2014 SM - 1024-123X SM - 1026-7077 SM - 1563-5147 T1 - Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains TI - Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains UR - http://hdl.handle.net/11427/34561 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/34561
dc.identifier.vancouvercitationYinka-Banjo C, Osunmakinde IO, Bagula A. Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains. Mathematical Problems in Engineering. 2014;2014(4):174 - 177. http://hdl.handle.net/11427/34561.en_ZA
dc.language.isoeng
dc.publisher.departmentDepartment of Computer Science
dc.publisher.facultyFaculty of Science
dc.sourceMathematical Problems in Engineering
dc.source.journalissue4
dc.source.journalvolume2014
dc.source.pagination174 - 177
dc.source.urihttps://dx.doi.org/10.1155/2014/678210
dc.subject.otherBurns
dc.subject.otherDisaster Planning
dc.subject.otherHumans
dc.subject.otherMass Casualty Incidents
dc.subject.otherNational Health Programs
dc.subject.otherPractice Guidelines as Topic
dc.subject.otherSocieties, Medical
dc.subject.otherSouth Africa
dc.titleCooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains
dc.typeJournal Article
uct.type.publicationResearch
uct.type.resourceJournal Article
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