A modified Imperialist Competitive Algorithm for multi-robot stick-carrying application

The paper proposes a novel evolutionary optimization approach of solving a multi-robot stick-carrying problem. The problem refers to determine the time-optimal trajectory of a stick, being carried by two robots, from a given starting position to a predefined goal position amidst static obstacles in a robot world-map. The problem has been solved using a new hybrid evolutionary algorithm. Hybridization, in the context of evolutionary optimization framework, refers to developing new algorithms by synergistically combining the composite benefits of global exploration and local exploitation capabilities of different ancestor algorithms. The paper proposes a novel approach to embed the motion dynamics of fireflies of the Firefly Algorithm (FA) into a socio-political evolution-based meta-heuristic search algorithm, known as the Imperialist Competitive Algorithm (ICA). The proposed algorithm also uses a modified random-walk strategy based on the position of the candidate solutions in the search space to effectually balance the trade-off between exploration and exploitation. Thirteen other state-of-art techniques have been used here to study the relative performance of the proposed Imperialist Competitive Firefly Algorithm (ICFA) with respect to run-time and accuracy (offset in objective function from the theoretical optimum after termination of the algorithm). Computer simulations undertaken on a well-known set of 25 benchmark functions reveal that the incorporation of the proposed strategies into the traditional ICA makes it more efficient in both run-time and accuracy. The performance of the proposed algorithm has then finally been studied on the real-time multi-robot stick-carrying problem. Experimental results obtained for both simulation and real frameworks indicate that the proposed algorithm based stick-carrying scheme outperforms other state-of-art techniques with respect to two standard metrics defined in the literature. The application justifies the importance of the proposed hybridization and parameter adaptation strategies in practical systems. Multi-robot stick-carrying problem is solved by the proposed ICFA.ICFA is fusion of motion dynamics of Firefly and Imperialist Competitive Algorithm.Modified random-walk strategy is proposed to balance exploration/exploitation.Simulation results confirm efficiency of the proposed ICFA in the state-of-art.Experiment with twin Khepera-II mobile robots is done amidst static obstacles.