Nitin Gupta

h-index6
2papers
285citations

2 Papers

4.2NESep 8, 2025Code
Explainable Swarm: A Methodological Framework for Interpreting Swarm Intelligence

Nitin Gupta, Bapi Dutta, Anupam Yadav

Swarm based optimization algorithms have demonstrated remarkable success in solving complex optimization problems. However, their widespread adoption remains sceptical due to limited transparency in how different algorithmic components influence the overall performance of the algorithm. This work presents a multi-faceted interpretability related investigations of one of the popular swarm algorithms, Particle Swarm Optimization. Through this work, we provide a framework that makes the role of different topologies and parameters in PSO interpretable and explainable using novel machine learning approach. We first developed a comprehensive landscape characterization framework using Exploratory Landscape Analysis to quantify problem difficulty and identify critical features in the problem that affects the optimization performance of PSO. Secondly, we rigorously compare three topologies - Ring, Star, and Von Neumann analyzing their distinct impacts on exploration-exploitation balance, convergence behavior, and solution quality and eventually develop an explainable benchmarking framework for PSO. The work successfully decodes how swarm topologies affect information flow, diversity, and convergence. Through systematic experimentation across 24 benchmark functions in multiple dimensions, we establish practical guidelines for topology selection and parameter configuration. These findings uncover the black-box nature of PSO, providing more transparency and interpretability to swarm intelligence systems. The source code is available at \textcolor{blue}{https://github.com/GitNitin02/ioh_pso}.

1.1CVJul 24, 2016
Autonomous Ingress of a UAV through a window using Monocular Vision

Abhinav Pachauri, Vikrant More, Pradeep Gaidhani et al.

The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the target structure.In this paper, a method to robustly detect the window in the surrounding using basic image processing techniques and efficient distance measure, is proposed.Furthermore, a navigation scheme which incorporates this detection method for performing navigation task has also been proposed.The whole navigation task is performed and tested in the simulation environment GAZEBO.