PSO-Based Search Rules for Aerial Swarms Against Unexplored Vector Fields via Genetic Programming

In this paper, we study Particle Swarm Optimization (PSO) as a collective search mechanism for individuals (such as aerial micro-robots) which are supposed to search in environments with unknown external dynamics. In order to deal with the unknown disturbance, we present new PSO equations which are evolved using Genetic Programming (GP) with a semantically diverse starting population, seeded by the Evolutionary Demes Despeciation Algorithm (EDDA), that generalizes better than standard GP in the presence of unknown dynamics. The analysis of the evolved equations shows that with only small modifications in the velocity equation, PSO can achieve collective search behavior while being unaware of the dynamic external environment, mimicking the zigzag upwind flights of birds towards the food source.

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