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Swarm intelligence
Collective system capable of accomplishing difficult tasks in
dynamic and varied environments without any external
guidance or control and with no central coordination.
Achieving a collective performance which could not
normally be achieved by an individual acting alone.
Constituting a natural model
distributed problem solving.
particularly
suited
to
Swarm Algorithms
Inspiration from swarm intelligence has led to some
highly successful optimisation algorithms.
Ant Colony (-based) Optimisation a way to solve
optimisation problems based on the way that ants indirectly
communicate directions to each other.
Particle Swarm Optimisation a different way to solve
optimisation problems, based on the swarming behaviour of
several kinds of organisms.
Optimization
General optimization problem:
given f:X,
find xX such that f(x) is minimum
Given a graph with two specified vertices A and B, find a shortest path
shortest path problem, polynomial
from A to B.
Given a set of cities and pairwise distances, find a shortest tour.
traveling salesperson problem,
Given a sequence of amino acids of a protein, find the structure of the
protein.
protein structure prediction problem,
Ant Colony
Optimization
Real ants
Stigmergy
Autocatalyzation
Ant System
Ant Colony System
Overview
Ant
Thus, when one ant finds a good (short) path from the colony to a food
source, other ants are more likely to follow that path, and such positive
feedback eventually leaves all the ants following a single path.
The idea of the ant colony algorithm is to mimic this behavior with
"simulated ants" walking around the search space representing the
problem to be solved.
Ant colony optimization algorithms have been used to produce nearoptimal solutions to the traveling salesman problem.
They have an advantage over simulated annealing and genetic
algorithm approaches when the graph may change dynamically. The ant
colony algorithm can be run continuously and can adapt to changes in
real time.
This is of interest in network routing and urban transportation systems.
ACO Defined
A heuristic optimization method for shortest path and
other optimization problems which borrows ideas
from biological ants.
Based on the fact that ants are able to find shortest
route between their nest and source of food.
Shortest Route
Shortest route is found using pheromone
trails which ants deposit whenever they
travel, as a form of indirect communication
For the same reason, new ants that later starts out from
the nest to find food will also choose the shortest path.
Stigmergic?
Stigmergy, a term coined by French biologist
Pierre-Paul Grasse, is interaction through the
environment.
Two individuals interact indirectly when one of
them modifies the environment and the other
responds to the new environment at a later time.
This is stigmergy.
Stigmergy in Ants
Ants are behaviorally unsophisticated, but collectively they
can perform complex tasks.
Ants have highly developed sophisticated sign-based
stigmergy
They communicate using pheromones;
They lay trails of pheromone that can be followed by other ants.
Pheromone Trails
Individual ants lay pheromone trails while travelling from
the nest, to the nest or possibly in both directions.
The pheromone trail gradually evaporates over time.
But pheromone trail strength accumulate with multiple
ants using path.
Nest
Food source
Autocatalyzation
What is autocatalytic behavior?
Pheromone Trails
Initial state:
no ants
t=0
t=1
30 ants
D
d=1
15 ants
d = 0.5
10 ants
20 ants
= 30
= 15
C
= 15 = 30
d = 0.5
d=1
15 ants
30 ants
15 ants
15 ants
10 ants
30 ants
20 ants
30 ants
(a)
(b)
(c)
Autocatalyzation
This is why ACO algorithms are
called autocatalytic positive
feedback algorithms!
Ant Colony
Optimization
The Ant System (AS)
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Pheromone
Ant
C
AB: 10, AC: 10, AD, 30,
D
BC, 40,
CD 20
Then we go back to 1 and repeat the whole process many times, until we reach a
termination criterion.
ACO algorithm
ACO algorithm
The process starts by generating m random ants (solution).
An ant
represents a solution string, with a
selected value for each variable.
An ant is evaluated according to an objective function.
Accordingly, pheromone concentration associated with
each possible route( variable value) is changed in a way to
reinforce good solutions as follows:
46
Pij
ACO algorithm
above.
Pheromone Concentration
Calculations
ACO Characteristics
Natural algorithm since it is based on the behavior of real ants in establishing paths from
their colony to source of food and back.
Cooperative since each agent chooses a path on the basis of the information, pheromone trails
laid by the other agents, which have previously selected the same path. This cooperative
behavior is also autocatalytic, i.e., it provides a positive feedback, since the probability of
choosing a path increases with the number of agents that previously chose that path.
Versatile that it can be applied to similar versions of the same problem; for example, there is a
straightforward extension from the traveling salesman problem (TSP) to the asymmetric
traveling salesman problem (ATSP).
Robust that it can be applied with minimal changes to other combinatorial optimization
problems such as quadratic assignment problem (QAP) and the jobshop scheduling problem
(JSP).
2.
3.
4.
5.
Artificial ants live in a discrete world. All their moves are jumps from one
discrete state to another adjacent one.
2.
Artificial ants have memory, they could remember states that have been
visited already.
3.
4.
where
(0, 1) is the pheromone decay coefficient
0 is the initial value of the pheromone
Where
1/Lbest if best ant k travels on edge i, j
ij best =
0 otherwise
Lbest can be set to the length of the best tour found in the
current iteration or the best solution found since the start
of the algorithm.
Traveling Salesman Problem, where a salesman must find the shortest route by
which he can visit a given number of cities, each city exactly once.
Job-Shop Scheduling Problem, where a given set of machines and set of job
operations must be assigned to time intervals in such a way that no two jobs are
processed at the same time on the same machine and the maximum time of
completion of all operations is minimized.
Vehicle Routing Problem, the objective is to find minimum cost vehicle routes
such that:
(a) Every customer is visited exactly once by exactly one vehicle;
(b) For every vehicle the total demand does not exceed the vehicle capacity;
(c) The total tour length of each vehicle does not exceed a given limit;
(d) Every vehicle starts and ends its tour at the same position.
Connectionless Network Routing where data packets of the same session can
follow different paths (Internet-type networks).
Advantages of ACO
Inherent parallelism
Positive Feedback accounts for rapid discovery of
good solutions
Efficient for Traveling Salesman Problem and similar
problems
Can be used in dynamic applications (adapts to
changes such as new distances, etc)
Disadvantages of ACO
Theoretical analysis is difficult
Sequences of random decisions (not independent)
Probability distribution changes by iteration
Research is experimental rather than theoretical
Time to convergence uncertain (but convergence is
gauranteed!)
Pij
( ij ) ( ij )
)
(
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lU
NA
Q,
k
ij
Q
d ij
k
ij
Q
or k
L
k
ij
71
ASelite
NA
new
ij
ASrank
old
ij
e 1
r 1
r
ij
e
ij
Q
e e
L
e
ij
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(e r ) r
L
r
ij
72
lU
q q0
Exploitation
q q0
Exploration
( iv ) ( iv )
Piv
( il ) (il )
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Local Updating
(Online Updating)
Global Updating
(Offline Updating)
ijnew ijold (1 ) 0
Methodology
Max-Min Ant System (MMAS)
min ij max
ANTS
Pij
ij (1 ) ij
[
lU
new
ij
old
ij
il
(1 ) il ]
NA
k 1
k
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)
Lavg LB
74