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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Artificial Intelligence (IJ-AI) ComEngApp : Computer Engineering and Applications Journal
Muhamad Rausyan Fikri
Sampoerna University
Computer Science & IT Electrical & Electronics Engineering Engineering

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Formation control of non-identical multi-agent systems Djati Wibowo Djamari; Muhamad Rausyan Fikri; Bentang Arief Budiman; Farid Triawan
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i3.pp2721-2732

Abstract

The problem considered in this work is formation control for non-identical linear multi-agent systems (MASs) under a time-varying communication network. The size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to identical agents under a fixed communication network. In addition, the formation scaling variable is updated under a leader-follower network. Differently, this work considers a leaderless undirected network in addition to a leader-follower network to update the formation scaling variable. The control law to achieve scalable formation is based on the internal model principle and consensus algorithm. A biased reference output, updated in a distributed manner, is introduced such that each agent tracks a different reference output. Numerical examples show the effectiveness of the proposed method.
Palm-sized quadrotor source localization using modified bio-inspired algorithm in obstacle region Muhamad Rausyan Fikri; Djati Wibowo Djamari
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 4: August 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i4.pp3494-3504

Abstract

This paper uses a palm-sized quadrotor to demonstrate the gas source localization (GSL) in obstacle regions. The chemical substance performs a dilute dispersion in the air, and it is challenging to locate the source position. The difficulty level of the GSL increases if the location is in the obstacle region. To estimate the gas source position, it indeed uses high computational cost systems. However, it leads to a new problem: a palm-sized quadrotor has a limited size and payload capacity. In this paper, a search based on the silkworm moth is employed. The algorithm works straightforwardly as the detection gas triggers its motion. A repulsion function is integrated into a searching method to compensate the algorithm for working in single surface obstacle regions. The validation data and the palm-sized quadrotor design are provided to convince the search effectiveness performance.
Gas Source Localization Using Bio-inspired Algorithm for Mini Flying Sniffer Robot: Development and Experimental Investigation Muhamad Rausyan Fikri
Computer Engineering and Applications Journal Vol 9 No 3 (2020)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (479.652 KB) | DOI: 10.18495/comengapp.v9i3.343

Abstract

In this paper, we demonstrated a gas source localization (GSL) using a mini quadrotor as a mini flying sniffer robot. The algorithm employed is based on a bioinspired algorithm from insect behavioral searching and it is constrained to perform only in 2D dimension open space area. In this study, we deliver some information such as system development, and algorithm flowchart to highlight how this study can achieve the target goal. The performance of insect behavioral based for searching the source location shows an interesting result. Where we can achieve a satisfactory result to find the source position using a bioinspired algorithm. The experimental results are provided to evaluate the performance of the searching algorithm.
Cuckoo search algorithm for construction site layout planning Meilinda Fitriani Nur Maghfiroh; Anak Agung Ngurah Perwira Redi; Janice Ong; Muhamad Rausyan Fikri
IAES International Journal of Artificial Intelligence (IJ-AI) Vol 12, No 2: June 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijai.v12.i2.pp851-860

Abstract

A novel metaheuristic optimization algorithm based on cuckoo search algorithm (CSA) is presented to solve the construction site layout planning problem (CSLP). CSLP is a complex optimization problem with various applications, such as plant layout, construction site layout, and computer chip layout. Many researchers have investigated the CSLP by applying many algorithms in an exact or heuristic approach. Although both methods yield a promising result, technically, nature-inspired algorithms demonstrate high achievement in successful percentage. In the last two decades, researchers have been developing a new nature-inspired algorithm for solving different types of optimization problems. The CSA has gained popularity in resolving large and complex issues with promising results compared with other nature-inspired algorithms. However, for solving CSLP, the algorithm based on CSA is still minor. Thus, this study proposed CSA with additional modification in the algorithm mechanism, where the algorithm shows a promising result and can solve CSLP cases.
Co-Authors Anak Agung Ngurah Perwira Redi Bentang Arief Budiman Djati Wibowo Djamari Farid Triawan Janice Ong Meilinda Fitriani Nur Maghfiroh