battle swarm: an evolutionary approach to complex swarm intelligence
DESCRIPTION
Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence. Russel Ahmed Apu Marina Gavrilova. Brief Outline. Battle Swarms Tactics and battle efficiency Swarm Intelligence: Missile Genotype Encoding Evolutionary strategies for battle swarms Experimental results and analysis. - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/1.jpg)
Battle Swarm: An Evolutionary Approach to
Complex Swarm Intelligence
Russel Ahmed ApuMarina Gavrilova
![Page 2: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/2.jpg)
Brief Outline
• Battle Swarms• Tactics and battle efficiency• Swarm Intelligence: Missile Genotype Encoding• Evolutionary strategies for battle swarms• Experimental results and analysis
![Page 3: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/3.jpg)
Objective:To utilize swarm based tactics & evolutionary
swarm strategies to increase tactical efficiency for offensive and defensive agents
![Page 4: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/4.jpg)
Battle Swarms Agents
• MISSILES
• Autonomous• Limited sensory
capabilities• Limited intelligence• Single objective: Hit ship• Complex dynamic system• Behavior of one missile
effect other missiles in the swarm
• Evolutionary Strategy
• DEFENSE TURRETS
• Point Defense system• Only Visual/radar
capabilities• Limited coverage• Single Objective: Destroy
missiles • Simple rule, complex
outcome: Select and fire• Behavior and efficiency
cruicial to survival• Fixed Strategy
![Page 5: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/5.jpg)
Defense Mechanism
Missile
Missile
Missile
Point Defense
Reaction Radius
Reaction
![Page 6: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/6.jpg)
Actions of a Missile
Constant Thrust
Right
Up
Heading
ROLL LEFT
ROLL RIGHT
PITCH DOWN
Action Encoding Set: {LRUDNMFAXYZ}* X=Rand Y=Converge*
L= Roll Left U=Pitch Up N=NOP F=Follow* Z=Diverge*
R=Roll Right D=Pitch Down M=Memory A=Avoid*
* Discussed in the next few slides
PITCH UP
![Page 7: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/7.jpg)
Basic Sensory Encoding and Actions
COG
Follow Target
Projection Plane
(1)
Roll to match proj(v)=proj(u)
(2)
Pitch upProj(v)
Proj(u)
![Page 8: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/8.jpg)
Basic Sensory Encoding and Actions
COG
Avoid Target
Projection Plane
(1)
Roll to match proj(v).proj(u)=0
(2)
Pitch up
Proj(v)
Proj(u)
![Page 9: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/9.jpg)
Target Relative Coordinate(Range, Heading, Bearing)
x y zf ,f ,f Forward Vector of missile m Up vector of missile m Location of the missile m
Location of the Target
m
m
m
F
upT
= ===
=
rr
( )
( )
( )
( )
2x x y x z
2xx y y z
2xx z y z
f1- -ff -fff-ff 1- -ff=
f-ff -ff 1-Heading, mm ph F
é ùê úê úê úê úê úê úë û= ·
M
Mr
Range, pM TR -=
( ) ( )( )( )Bearing, mm mm mb FT p T pu u= × ·- -· ´M Mr r
![Page 10: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/10.jpg)
Target relative: Heading
![Page 11: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/11.jpg)
Target Relative: Bearing
COG
Projection Plane
u
PRproj
b Rproj
F
![Page 12: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/12.jpg)
Swarm Relative Encoding• Regulates the probability of Flocking Tendency• ‘Y’ Flock and increase tendency (probability of
Boids flocking)• ‘Z’ Diverge from flock and decrease tendency• If an agents decides to flock (prob= ), the direction is
determined using modified BOIDS
Boids flocking: From left to right rules of cohesion, separation and alignment [2].
![Page 13: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/13.jpg)
Decision Making• Event related decision are made by the
swarm implicitly
• Avoiding Incoming fire: Ionization trail gives negative pheromone to allow flocking out of a region
• Finding Weakness in Defense: Combined usage of flocking tendency, gas and ionization pheromone trail
![Page 14: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/14.jpg)
Basic Encoding of Missile genotype • String of Possible Action (I.e [LYUXLY])• Action string is circular (iterative)• Missile DNA=Gene_String[]• Continuous execution of the string • Each action executed for an infinite time• Regulates Swarm Behavior/Tendency
![Page 15: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/15.jpg)
Encoding Basic Maneuvers
• Maintain Current Heading = [N]• Homing the Target = [F]• Ring Motion = [U] • Cork Screw = [LU], [LUMMM]• Evasive Approach = [XF], [XMMMF]• Basic Evasive Action = [A], [AMMMX]• Fall Back = [XU], [XMMMU], [AU]• Scramble = [X]
![Page 16: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/16.jpg)
Basic Maneuvers
[N]
[A]
[U]
[F] [XF]
[LU]
![Page 17: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/17.jpg)
Different Complex Maneuvering Tactics
• Retaliation – frontal attack• Evasive – avoid fire at all costs• Convergent approach – approach target from a
particular direction• Divergent approach – surround and approach from
different directions• Trail wind flocking –one missile leads others • Distract and draw fire
![Page 18: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/18.jpg)
Different Complex Maneuvering Tactical strategies
(a) Diversion (b) Trail Wind Flocking (c) Retaliation (d) Divergence
![Page 19: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/19.jpg)
Mutating and Evolving the Missile Genotype
• Fitness: Define a fitness function for the desired action
• Crossover: Augment/concatenate Genes
{[LUMU] [AMD]} {[LUAMDMU] [LUMD] [AMDUMU] [LMDMU]…}
• Randomization: Replace arbitrary symbols with “X”… run the simulation and convert meta genes to real genes
[FFLLU] [FXLXU] {[FULLU], [FFLFU], [FNLNU], [FMLNU]} Best{[FULLU], [FNLNU]}
![Page 20: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/20.jpg)
Induced Evolution• We can introduce certain desired behavior
in addition to natural evolution
• Step 1: Train Missiles separately to obtain certain desired behavior without any other consideration. Obtain Viral strain W=[…]
• Step 2: Infect All current Genotype with viral Strain W (crossover)
![Page 21: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/21.jpg)
The Game: Co-evolution1. Implement basic missile [F] and basic Turret
{Select X, Fire@trajectory}2. Adjust physical property to match
– Fitness=50% (50% missiles hit the target)
3. Evolve Missiles and turrets against previous strain
4. Repeat step 3 for several Games cycles5. If fitness falls or rises dramatically increase
physical strength of opposing swarm (Missile: Acceleration, velocity, turning. Turrets: Speed of fire, number of turrets, firing frequency)
![Page 22: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/22.jpg)
The Fitness Function: Hetero-Sexual Mating
• Use a two dimensional Fitness Function• Every missile has a masculine and a feminine fitness• Masculine: Ability to Attack• Feminine: Ability to Survive
,i iiW W= J,i iiW W= J
# of missile hitting the target# of missiles launched
# of gunshots successfully evaded# of missiles destroyed+1
i
i
W =
=J
![Page 23: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/23.jpg)
Results
- Strategies evolved, Runtime and other aspects
![Page 24: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/24.jpg)
Fitness Function
05
101520253035404550
0 20 40 60 80 100Masculine
Fem
inin
e
Randomized No Randomization
Evasive
Dispersion
Distraction Swarm: Trail Wind
Assult
![Page 25: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/25.jpg)
Complex Tactics: Convergent Approach
• Strength in numbers• Less exposure to incoming
fire• Increase of spatial threat• Decrease of temporal threat
• High Efficiency• Low evasion• Highly Masculine
![Page 26: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/26.jpg)
Complex Tactics: Divergent Approach• Cause more distraction and
confuse the defense system• Less likelihood for a missile
to draw fire • Decrease of spatial threat• Increase of temporal threat
• Lower Efficiency• Highly Evasive• Highly Feminine
![Page 27: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/27.jpg)
Convergent VS Divergent Approach
• CONVERGENT• Less defense turrets• Draw less fire• Easy to shoot down
• DIVERGENT• More defense turrets• Draw more fire• Distracting and hard to
shoot down
![Page 28: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/28.jpg)
Complex Tactics: Trail Wind Flocking
• Better than “Convergent Approach”• Least exposure to incoming fire• Lot of opportunity for diversion/distraction• Decrease of spatial threat• Decrease of average temporal threat
![Page 29: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/29.jpg)
More Results
(a) Funnel Shaped Assault
(b) Parachute Phase 1: Forming a moth ball
(c) Parachute Phase 2: Dispersing
(d) Parachute Phase3: Forming a Head
(e) Parachute Phase 4: Trail Wind Attack
(f) Divergent Attack
![Page 30: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/30.jpg)
More ResultsFigure 11: Formation of Distraction, Organic and Deception pattern
(h) Distraction 2: Assault in progress
(g) Distraction 1: Early missiles draw fire
(i) Organic motion pattern
(j) Deception 1: Lead Assault
(k) Deception 2: Overshooting the target
(l) Deception 3: Come about and attack
![Page 31: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/31.jpg)
More Results
See Animation Demos
![Page 32: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/32.jpg)
Rendering and Physical Engine• Regular physics engine will not suffice
– Approximation aggravates trajectory computation
• Construct everything from scratch– Advanced look-ahead estimation based physics
engine – Robust Rendering engine:
• Anisotropic Texture filtering • Multiple LOD based geometry rendering• Particle engine • Highly optimized exclusive API for performance• Flexibility
![Page 33: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/33.jpg)
The Simulation Engine• Robust design: Separation of Rendering
modules from the simulation• Implements Command Console• Runtime performance is highly efficient• For 50 missiles:
– Full quality rendering@ 50FPS !!!– Simulation runs upto 50 times faster
(FPS=2200+) is rendering is turned off (for evolutionary algorithm)
– Excellent Rendering quality (anisotropic texture mapping, particle engine)
![Page 34: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/34.jpg)
Runtime PerformancePerformance of Different Runtime Modes
38.1698.72
391.74
48.77110.33
715.73
0
100
200
300
400
500
600
700
800
Mode
Fram
e/Se
cond
![Page 35: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/35.jpg)
Summary• Using Swarm Intelligence to evolve battle tactics for
– Missiles– Point Defense Turrets
• Evolutionary strategies:– Gene_String[] evolution– The novel “Induced Evolution” strategy– Co-evolutionary strategy
• Implementation: – Rendering and physical Engine– Genotype encoding– Basic maneuvers– Complex maneuvers– Integration
![Page 36: Battle Swarm: An Evolutionary Approach to Complex Swarm Intelligence](https://reader035.vdocuments.mx/reader035/viewer/2022062810/56815c85550346895dca9b59/html5/thumbnails/36.jpg)
Thank you