The diversified ecology in nature had various forms of swarm behaviors in many species. The butterfly species is one of the prominent and a bit insightful in their random flights and converting that into an artificial metaphor would lead to enormous possibilities. This paper considers one such metaphor known as Butterfly Mating Optimization (BMO). In BMO, the Bfly follows the patrolling mating phenomena and simultaneously captures all the local optima of multimodal functions. To imitate this algorithm, a mobile robot (Bflybot) was designed to meet the features of the Bfly in the BMO algorithm. Also, the multi-Bflybot swarm is designed to act like butterflies in nature and follow the algorithm's rules. The real-time experiments were performed on the BMO algorithm in the multi-robotic arena and considered the signal source as the light source. The experimental results show that the BMO algorithm is applicable to detect multiple signal sources with significant variations in their movements i.e., static and dynamic. In the case of static signal sources, with varying initial locations of Bflybots, the convergence is affected in terms of time and smoothness. Whereas the experiments with varying step-size leads to their variation in the execution time and speed of the bots. In this work, experiments were performed in a dynamic environment where the movement of the signal source in both maneuvering and non-maneuvering scenarios. The Bflybot swarm is able to detect the single and multi-signal sources, moving linearly in between two fixed points, in circular, up and down movements.To evaluate the BMO phenomenon, various ongoing and prospective works such as mid-sea ship detection, aerial search applications, and earthquake prediction were discussed.
翻译:自然的多样化生态在很多物种中都有不同形式的群落行为。 蝴蝶物种是其随机飞行中的突出和略微有洞察力的物种之一, 并将之转换成人工比喻将带来巨大的可能性。 本文认为了一个被称为“ 蝴蝶满足最佳化” (BMO) 的隐喻。 在BMO 中, Bfly 跟随巡逻交配现象并同时捕捉所有多式功能的当地选择。 为了模仿这一算法, 设计了一个移动机器人( Bflybot ), 以适应BMO 算法中的Blybly 的特征。 另外, 多苍蝇bot 的群群是为了像自然中的蝴蝶一样行动, 并遵循算法规则。 本文中, 在多色场中, BMO 实时的算法实验将信号源视为光源。 实验结果表明, BMO 用于检测多种信号源, 其单位移动( 即静态和动态) 。 在静态信号源中, 稳定信号源的检测源是,, Bliferbbbbbbbbot 的初始初始初始初始初始初始初始的初始的初始的初始的初始的初始的不测序中, 在时间和平稳运行中, 运行中, 和平稳运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中, 运行中 运行中运行中 运行中 运行中 运行中 运行中 运行中 运行中 运行中 运行中 。 运行中 运行中 运行中 运行中 运行中 运行中 运行中 运行中 。 运行中 运行中 运行中 。