Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment

2011 ◽  
Vol 23 (4) ◽  
pp. 567-581 ◽  
Author(s):  
Evgeni Magid ◽  
◽  
Takashi Tsubouchi ◽  
Eiji Koyanagi ◽  
Tomoaki Yoshida ◽  
...  
Keyword(s):  
Search Algorithm ◽  
Search Space ◽  
Search Tree ◽  
Quality Estimation ◽  
Dynamic Path Planning ◽  
Building Process ◽  
Path Search ◽  
Tree Building ◽  
Random Step ◽  
Real State

Rescue robotics applies search and rescue robots to expand rescue capabilities while increasing safety. Mobile robots working at a disaster site are monitored remotely by operators who may not be able to see the site well and select work paths appropriately. Our goal is to provide a “pilot system” that can propose options for traversing 3D debris environments. This requires a special debris path search algorithm and an appropriately defined search tree ensuring smooth exploration. To make a path search feasible in huge real state space we discretize search space and robot movement before a search. In this paper we present path quality estimation and search tree branching functionF, which defines search tree building process online through node opening and branching. Well-defined functionFremoves unsuitable search directions from the search tree and enables dynamic path planning accounting for debris. Exhaustive simulation was used to structure and analyze data. Experiments confirmed the feasibility of our approach.

scholarly journals D* Extra Lite: A Dynamic A* With Search–Tree Cutting and Frontier–Gap Repairing

2017 ◽  
Vol 27 (2) ◽  
pp. 273-290 ◽  
Author(s):  
Maciej Przybylski ◽  
Barbara Putz
Keyword(s):  
Complexity Analysis ◽  
Search Algorithm ◽  
Search Space ◽  
Search Tree ◽  
Worst Case ◽  
Heuristic Search Algorithm ◽  
Current State ◽  
Branch Cutting ◽  
Tree Cutting ◽  
Tree Branch

AbstractSearching for the shortest-path in an unknown or changeable environment is a common problem in robotics and video games, in which agents need to update maps and to perform re-planning in order to complete their missions. D* Lite is a popular incremental heuristic search algorithm (i.e., it utilizes knowledge from previous searches). Its efficiency lies in the fact that it re-expands only those parts of the search-space that are relevant to registered changes and the current state of the agent. In this paper, we propose a new D* Extra Lite algorithm that is close to a regular A*, with reinitialization of the affected search-space achieved by search-tree branch cutting. The provided worst-case complexity analysis strongly suggests that D* Extra Lite’s method of reinitialization is faster than the focused approach to reinitialization used in D* Lite. In comprehensive tests on a large number of typical two-dimensional path-planning problems, D* Extra Lite was 1.08 to 1.94 times faster than the optimized version of D* Lite. Moreover, while demonstrating that it can be particularly suitable for difficult, dynamic problems, as the problem-complexity increased, D* Extra Lite’s performance further surpassed that of D*Lite. The source code of the algorithm is available on the open-source basis.

Localization of WSN using Distributed Particle Swarm Optimization algorithm with precise references

2016 ◽  
Vol 7 ◽  
pp. 1
Author(s):  
Ravichander Janapati ◽  
Ch. Balaswamy ◽  
K. Soundararajan
Keyword(s):  
Particle Swarm Optimization ◽  
Search Algorithm ◽  
Particle Swarm ◽  
Search Space ◽  
Research Area ◽  
Population Based ◽  
Wireless Sensor ◽  
Cooperative Localization ◽  
Localization Algorithm ◽  
Swarm Optimization

Localization is the key research area in wireless sensor networks. Finding the exact position of the node is known as localization. Different algorithms have been proposed. Here we consider a cooperative localization algorithm with censoring schemes using Crammer Rao bound (CRB). This censoring scheme  can improve the positioning accuracy and reduces computation complexity, traffic and latency. Particle swarm optimization (PSO) is a population based search algorithm based on the swarm intelligence like social behavior of birds, bees or a school of fishes. To improve the algorithm efficiency and localization precision, this paper presents an objective function based on the normal distribution of ranging error and a method of obtaining the search space of particles. In this paper  Distributed localization of wireless sensor networksis proposed using PSO with best censoring technique using CRB. Proposed method shows better results in terms of position accuracy, latency and complexity.  

Automatic Mining of Quantitative Association Rules with Gravitational Search Algorithm

2017 ◽  
Vol 27 (03) ◽  
pp. 343-372 ◽  
Author(s):  
Umit Can ◽  
Bilal Alatas
Keyword(s):  
Association Rules ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Search Space ◽  
Search Method ◽  
Quantitative Association Rules ◽  
Gravitational Search

The classical optimization algorithms are not efficient in solving complex search and optimization problems. Thus, some heuristic optimization algorithms have been proposed. In this paper, exploration of association rules within numerical databases with Gravitational Search Algorithm (GSA) has been firstly performed. GSA has been designed as search method for quantitative association rules from the databases which can be regarded as search space. Furthermore, determining the minimum values of confidence and support for every database which is a hard job has been eliminated by GSA. Apart from this, the fitness function used for GSA is very flexible. According to the interested problem, some parameters can be removed from or added to the fitness function. The range values of the attributes have been automatically adjusted during the time of mining of the rules. That is why there is not any requirements for the pre-processing of the data. Attributes interaction problem has also been eliminated with the designed GSA. GSA has been tested with four real databases and promising results have been obtained. GSA seems an effective search method for complex numerical sequential patterns mining, numerical classification rules mining, and clustering rules mining tasks of data mining.

Dynamic Path Planning Algorithm Based on Chaos Genetic Vehicle Navigation

2011 ◽  
Vol 142 ◽  
pp. 12-15
Author(s):  
Ping Feng
Keyword(s):  
Path Planning ◽  
Search Algorithm ◽  
Traffic Condition ◽  
Planning Time ◽  
Dynamic Path Planning ◽  
Short Period ◽  
Planning Algorithm ◽  
Dynamic Path ◽  
Path Planning Algorithm ◽  
Chaos Genetic Algorithm

The paper puts forward the dynamic path planning algorithm based on improving chaos genetic algorithm by using genetic algorithms and chaos search algorithm. In the practice of navigation, the algorithm can compute at the best path to meet the needs of the navigation in such a short period of planning time. Furthermore,this algorithm can replan a optimum path of the rest paths after the traffic condition in the sudden.

scholarly journals Binary Spring Search Algorithm for Solving Various Optimization Problems

2021 ◽  
Vol 11 (3) ◽  
pp. 1286 ◽  
Author(s):  
Mohammad Dehghani ◽  
Zeinab Montazeri ◽  
Ali Dehghani ◽  
Om P. Malik ◽  
Ruben Morales-Menendez ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
High Performance ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Gravitational Search Algorithm ◽  
Bat Algorithm ◽  
Search Space ◽  
Binary Particle Swarm Optimization ◽  
Dragonfly Algorithm ◽  
Grasshopper Optimization Algorithm

One of the most powerful tools for solving optimization problems is optimization algorithms (inspired by nature) based on populations. These algorithms provide a solution to a problem by randomly searching in the search space. The design’s central idea is derived from various natural phenomena, the behavior and living conditions of living organisms, laws of physics, etc. A new population-based optimization algorithm called the Binary Spring Search Algorithm (BSSA) is introduced to solve optimization problems. BSSA is an algorithm based on a simulation of the famous Hooke’s law (physics) for the traditional weights and springs system. In this proposal, the population comprises weights that are connected by unique springs. The mathematical modeling of the proposed algorithm is presented to be used to achieve solutions to optimization problems. The results were thoroughly validated in different unimodal and multimodal functions; additionally, the BSSA was compared with high-performance algorithms: binary grasshopper optimization algorithm, binary dragonfly algorithm, binary bat algorithm, binary gravitational search algorithm, binary particle swarm optimization, and binary genetic algorithm. The results show the superiority of the BSSA. The results of the Friedman test corroborate that the BSSA is more competitive.

How significant are the known collision and element distinctness quantum algorithms?

2004 ◽  
Vol 4 (3) ◽  
pp. 201-206
Author(s):  
L. Grover ◽  
T. Rudolph
Keyword(s):  
Search Algorithm ◽  
Quantum Algorithms ◽  
Search Space ◽  
Space Complexity ◽  
Quantum Search ◽  
Quantum Search Algorithm ◽  
Time Space ◽  
Simple Quantum ◽  
Structured Problems ◽  
Better Than

Quantum search is a technique for searching $N$ possibilities for a desired target in $O(\sqrt{N})$ steps. It has been applied in the design of quantum algorithms for several structured problems. Many of these algorithms require significant amount of quantum hardware. In this paper we propose the criterion that an algorithm which requires $O(S)$ hardware should be considered significant if it produces a speedup of better than $O\left(\sqrt{S}\right)$ over a simple quantum search algorithm. This is because a speedup of $O\left(\sqrt{S}\right)$ can be trivially obtained by dividing the search space into $S$ separate parts and handing the problem to $S$ independent processors that do a quantum search (in this paper we drop all logarithmic factors when discussing time/space complexity). Known algorithms for collision and element distinctness exactly saturate the criterion.

scholarly journals Ls-II: An Improved Locust Search Algorithm for Solving Optimization Problems

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Octavio Camarena ◽  
Erik Cuevas ◽  
Marco Pérez-Cisneros ◽  
Fernando Fausto ◽  
Adrián González ◽  
...  
Keyword(s):  
Optimization Problems ◽  
Search Algorithm ◽  
Search Space ◽  
Optimization Method ◽  
Superior Performance ◽  
Solution Quality ◽  
Original Algorithm ◽  
Motion Models ◽  
Search Mechanism ◽  
Solitary Phase

The Locust Search (LS) algorithm is a swarm-based optimization method inspired in the natural behavior of the desert locust. LS considers the inclusion of two distinctive nature-inspired search mechanism, namely, their solitary phase and social phase operators. These interesting search schemes allow LS to overcome some of the difficulties that commonly affect other similar methods, such as premature convergence and the lack of diversity on solutions. Recently, computer vision experiments in insect tracking methods have conducted to the development of more accurate locust motion models than those produced by simple behavior observations. The most distinctive characteristic of such new models is the use of probabilities to emulate the locust decision process. In this paper, a modification to the original LS algorithm, referred to as LS-II, is proposed to better handle global optimization problems. In LS-II, the locust motion model of the original algorithm is modified incorporating the main characteristics of the new biological formulations. As a result, LS-II improves its original capacities of exploration and exploitation of the search space. In order to test its performance, the proposed LS-II method is compared against several the state-of-the-art evolutionary methods considering a set of benchmark functions and engineering problems. Experimental results demonstrate the superior performance of the proposed approach in terms of solution quality and robustness.

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