Group Size Video Clips

This work was supported in part by the National Science
Foundation (NSF) under grants CCF-0829827:

Bio-inspired Group Modeling and Analysis for Intruder Detection in Mobile Sensor/Robotic Networks

Bo Fu, Yang Xiao, Xiannuan Liang, and C. L. P. Chen.

Department of Computer Science

The University of Alabama

Tuscaloosa, AL 35487-0290 USA

The work was published as the following paper:

B. Fu, Y. Xiao, X. Liang, and C. L. P. Chen, "Bio-inspired Group Modeling and Analysis for Intruder Detection in Mobile Sensor/Robotic Networks," IEEE Transactions on Cybernetics, accepted. DOI: 10.1109/TCYB.2014.2320717;

Simulation Result Video Clips

This work specifically considers how two types of primates organize themselves (small vs. large groups), analyzes how these strategies can be applied in mobile sensor/robot networks, and presents a simulation to show the benefit and trade-off of both large and small groups. Unlike flocks or shoals, the group size of the primate society is usually not extremely large.

In the simulations, the field is a square with an area of 150 units by 150 units. There are 20 robots patrolling the field in the simulation, and the robots are grouped into either small (four robots per group) or large groups (ten robots per group). For any group, the communication range is a random number between 10 units and 20 units. The sensing/detection range is the same within each group. The sensing range for each robot is 10 units. Each robot’s successful transmissions influence the successful transmissions of the group. In the following video clips, the intruders are shown as kite-shaped objects wandering in the field. A courier, which is shown in as a compass-shaped object, flies among all the groups constantly in order to achieve inter-group communication.

We provide four video clips:

1) large grouping when there are eight intruders, and the successful transmission probability for each robot is 85%

http://www.cs.ua.edu/~yangxiao/NSF_EMT/Video_Large_8Intruders_85Probility.wmv

2) small grouping when there are eight intruders, and the successful transmission probability for each robot is 85%

http://www.cs.ua.edu/~yangxiao/NSF_EMT/Video_Small_8Intruders_85Probility.wmv

3) large grouping when there are eight intruders, and the successful transmission probability for each robot is 99%

http://www.cs.ua.edu/~yangxiao/NSF_EMT/Video_Large_8Intruders_99Probility.wmv

4) small grouping when there are eight intruders, and the successful transmission probability for each robot is 99%

http://www.cs.ua.edu/~yangxiao/NSF_EMT/Video_Small_8Intruders_99Probility.wmv

Along with the simulation results in the paper, we obtain the following conclusion: the patrol time of the small grouping is shorter than that of the large grouping; the successful transmission probability of the small grouping is larger than that of the large grouping; the courier iteration time of the large grouping is shorter than that of the small grouping.