Aerospace Instrument-Making Annotation << Back MODIFIED ALGORITHM OF PARTICLE SWARM OPTIMIZATION, FOCUSED ON THE TASK OF MONITORING BY A GROUP OF ROBOTS Kang Liang, A.P. Karpenko The paper proposes a new algorithm named PSO+ for global optimization, which is a modification of the canonical algorithm PSO for the swarm of particles. The modification is aimed at ensuring the possibility of using the algorithm PSO+ for solving problems of group robotics, which boil down to localizing the global extreme of a certain scalar objective function. The modification consists in limiting the particle velocity and, most importantly, in replacing the concept of particle proximity: instead of proximity in the topological space used by the algorithm PSO, the algorithm PSO+ is based on the proximity of particles in the search space. Key words: group robotics, modified particle swarm optimization algorithm, global optimization. DOI: 10.25791/aviakosmos.02.2019.461 Contacts: E-mail kangliang@sspu.edu.cn, E-mail: apkarpenko@mail.ru Pp. 34-43.