A Novel Space Filling Curves Based Approach to PSO Algorithms for Autonomous Agents

  • Doina LogofătuEmail author
  • Gil Sobol
  • Daniel Stamate
  • Kristiyan Balabanov
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10448)


In this work the swarm behavior principles of Craig W. Reynolds are combined with deterministic traits. This is done by using leaders with motions based on space filling curves like Peano and Hilbert. Our goal is to evaluate how the swarm of agents works with this approach, supposing the entire swarm will better explore the entire space. Therefore, we examine different combinations of Peano and Hilbert with the already known swarm algorithms and test them in a practical challenge for the harvesting of manganese nodules on the sea ground with the use of autonomous robots. We run experiments with various settings, then evaluate and describe the results. In the last section some further development ideas and thoughts for the expansion of this study are considered.


Autonomous agents Space filling curves Particle swarm optimization Deterministic leaders Application 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Doina Logofătu
    • 1
    Email author
  • Gil Sobol
    • 2
  • Daniel Stamate
    • 3
  • Kristiyan Balabanov
    • 1
  1. 1.Computer Science Department of FrankfurtUniversity of Applied SciencesFrankfurt am MainGermany
  2. 2.Industrial EngineeringTechnion - Israel Institute of TechnologyHaifaIsrael
  3. 3.Department of Computing, Goldsmiths CollegeUniversity of LondonLondonUK

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