Efficient Evolution of Modular Robot Control via Genetic Programming

2013 ◽  
pp. 59-85
Author(s):  
Tüze Kuyucu ◽  
Ivan Tanev ◽  
Katsunori Shimohara
Keyword(s):  
Multiobjective Optimization ◽  
Genetic Programming ◽  
Evolutionary Computation ◽  
Fast Moving ◽  
Search Space ◽  
Multiple Objectives ◽  
Experimental Results ◽  
Robotic Systems ◽  
Linear Fashion ◽  
Fast Evolution

In Genetic Programming (GP), most often the search space grows in a greater than linear fashion as the number of tasks required to be accomplished increases. This is a cause for one of the greatest problems in Evolutionary Computation (EC): scalability. The aim of the work presented here is to facilitate the evolution of control systems for complex robotic systems. The authors use a combination of mechanisms specifically designed to facilitate the fast evolution of systems with multiple objectives. These mechanisms are: a genetic transposition inspired seeding, a strongly-typed crossover, and a multiobjective optimization. The authors demonstrate that, when used together, these mechanisms not only improve the performance of GP but also the reliability of the final designs. They investigate the effect of the aforementioned mechanisms on the efficiency of GP employed for the coevolution of locomotion gaits and sensing of a simulated snake-like robot (Snakebot). Experimental results show that the mechanisms set forth contribute to significant increase in the efficiency of the evolution of fast moving and sensing Snakebots as well as the robustness of the final designs.

Users' Fuzzy Cognition Knowledge Learning in Interactive Evolutionary Computation and its Application

2011 ◽  
Vol 204-210 ◽  
pp. 245-250
Author(s):  
Guo Sheng Hao ◽  
Xiang Jun Zhao ◽  
Yong Qing Huang
Keyword(s):  
Evolutionary Computation ◽  
Search Space ◽  
Interactive Evolutionary Computation ◽  
Sense Unit ◽  
Knowledge Learning

user in interactive evolutionary computation (IEC) has the characteristic of fuzzy cognition. Based on this, a method to learn users’ fuzzy cognition knowledge is given. The method includes the fuzzy expression of the basic elements of IEC such as search space, population, gene sense unit and so on. Then a method to increase the performance of IEC based on the knowledge of users’ fuzzy cognition is given. The above results enrich the researches of IEC users' cognition.

scholarly journals Evolutionary Algorithms for Boolean Functions in Diverse Domains of Cryptography

2016 ◽  
Vol 24 (4) ◽  
pp. 667-694 ◽  
Author(s):  
Stjepan Picek ◽  
Claude Carlet ◽  
Sylvain Guilley ◽  
Julian F. Miller ◽  
Domagoj Jakobovic
Keyword(s):  
Evolutionary Algorithms ◽  
Genetic Programming ◽  
Evolutionary Computation ◽  
Boolean Functions ◽  
Coding Theory ◽  
Design Criteria ◽  
Hamming Weight ◽  
High Quality ◽  
Distinct Role

The role of Boolean functions is prominent in several areas including cryptography, sequences, and coding theory. Therefore, various methods for the construction of Boolean functions with desired properties are of direct interest. New motivations on the role of Boolean functions in cryptography with attendant new properties have emerged over the years. There are still many combinations of design criteria left unexplored and in this matter evolutionary computation can play a distinct role. This article concentrates on two scenarios for the use of Boolean functions in cryptography. The first uses Boolean functions as the source of the nonlinearity in filter and combiner generators. Although relatively well explored using evolutionary algorithms, it still presents an interesting goal in terms of the practical sizes of Boolean functions. The second scenario appeared rather recently where the objective is to find Boolean functions that have various orders of the correlation immunity and minimal Hamming weight. In both these scenarios we see that evolutionary algorithms are able to find high-quality solutions where genetic programming performs the best.

scholarly journals Feature Selection using Genetic Programming

2019 ◽  
Vol 3 (2) ◽  
pp. 11-18
Author(s):  
George Mweshi
Keyword(s):  
Feature Selection ◽  
Genetic Programming ◽  
Information Gain ◽  
Principal Component ◽  
Search Space ◽  
Classification Performance ◽  
The Other ◽  
Searching Strategy ◽  
Mining Algorithms ◽  
Feature Selection Techniques

Extracting useful and novel information from the large amount of collected data has become a necessity for corporations wishing to maintain a competitive advantage. One of the biggest issues in handling these significantly large datasets is the curse of dimensionality. As the dimension of the data increases, the performance of the data mining algorithms employed to mine the data deteriorates. This deterioration is mainly caused by the large search space created as a result of having irrelevant, noisy and redundant features in the data. Feature selection is one of the various techniques that can be used to remove these unnecessary features. Feature selection consequently reduces the dimension of the data as well as the search space which in turn increases the efficiency and the accuracy of the mining algorithms. In this paper, we investigate the ability of Genetic Programming (GP), an evolutionary algorithm searching strategy capable of automatically finding solutions in complex and large search spaces, to perform feature selection. We implement a basic GP algorithm and perform feature selection on 5 benchmark classification datasets from UCI repository. To test the competitiveness and feasibility of the GP approach, we examine the classification performance of four classifiers namely J48, Naives Bayes, PART, and Random Forests using the GP selected features, all the original features and the features selected by the other commonly used feature selection techniques i.e. principal component analysis, information gain, relief-f and cfs. The experimental results show that not only does GP select a smaller set of features from the original features, classifiers using GP selected features achieve a better classification performance than using all the original features. Furthermore, compared to the other well-known feature selection techniques, GP achieves very competitive results.

Global Path Planning for Full-Area Coverage Robotic Systems by Employing an Active Genetic Algorithm

2011 ◽  
Vol 328-330 ◽  
pp. 1881-1886
Author(s):  
Cen Zeng ◽  
Qiang Zhang ◽  
Xiao Peng Wei
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
High Performance ◽  
Search Space ◽  
Area Coverage ◽  
Robotic Systems ◽  
Genetic Operators ◽  
A Algorithm ◽  
Coverage Path Planning ◽  
Search Spaces

Genetic algorithm (GA), a kind of global and probabilistic optimization algorithms with high performance, have been paid broad attentions by researchers world wide and plentiful achievements have been made.This paper presents a algorithm to develop the path planning into a given search space using GA in the order of full-area coverage and the obstacle avoiding automatically. Specific genetic operators (such as selection, crossover, mutation) are introduced, and especially the handling of exceptional situations is described in detail. After that, an active genetic algorithm is introduced which allows to overcome the drawbacks of the earlier version of Full-area coverage path planning algorithms.The comparison between some of the well-known algorithms and genetic algorithm is demonstrated in this paper. our path-planning genetic algorithm yields the best performance on the flexibility and the coverage. This meets the needs of polygon obstacles. For full-area coverage path-planning, a genotype that is able to address the more complicated search spaces.

A Theory of Displaced Ideals: An Analysis of Interdependent Decisions via Nonlinear Multiobjective Optimization

1979 ◽  
Vol 11 (10) ◽  
pp. 1165-1178 ◽  
Author(s):  
P Nijkamp
Keyword(s):  
Environmental Policy ◽  
Multiobjective Optimization ◽  
Geometric Programming ◽  
Multiple Objectives ◽  
Environmental System ◽  
Central Focus ◽  
Ideal Approach

This paper is devoted to a discussion of the use of nonlinear multiobjective models for the analysis of environmental policy. The central focus of the paper is on an interactive procedure by way of a so-called displaced ideal approach. The conflicting nature of multiple objectives in a spatial and environmental system is analyzed by means of a spatial variant of the ‘keeping up with the Joneses' effect. Geometric programming appears to be a useful tool to solve these nonlinear spatial—environmental multiobjective models.

Actuator hysteresis modeling and compensation with an adaptive search space based genetic algorithm

2021 ◽  
Author(s):  
Che-Hang Cliff Chan
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Search Space ◽  
Parameters Identification ◽  
Experimental Results ◽  
Adaptive Search ◽  
Real Coded Genetic Algorithm ◽  
Hysteresis Modeling ◽  
Convergence Performance ◽  
Solution Accuracy

The thesis presents a Genetic Algorithm with Adaptive Search Space (GAASS) proposed to improve both convergence performance and solution accuracy of traditional Genetic Algorithms(GAs). The propsed GAASS method has bee hybridized to a real-coded genetic algorithm to perform hysteresis parameters identification and hystereis invers compensation of an electromechanical-valve acuator installed on a pneumatic system. The experimental results have demonstrated the supreme performance of the proposed GAASS in the search of optimum solutions.

Computational Models of Bio Heuristics Based on Physical and Cognitive Processes (Review)

2021 ◽  
Vol 27 (11) ◽  
pp. 563-574
Author(s):  
V. V. Kureychik ◽  
◽  
S. I. Rodzin ◽  
Keyword(s):  
Computational Complexity ◽  
Convergence Rate ◽  
Rate Of Convergence ◽  
Cognitive Processes ◽  
Computational Models ◽  
Optimization Problems ◽  
Search Space ◽  
Experimental Results ◽  
Software Implementation ◽  
Minimum Total Length

Computational models of bio heuristics based on physical and cognitive processes are presented. Data on such characteristics of bio heuristics (including evolutionary and swarm bio heuristics) are compared.) such as the rate of convergence, computational complexity, the required amount of memory, the configuration of the algorithm parameters, the difficulties of software implementation. The balance between the convergence rate of bio heuristics and the diversification of the search space for solutions to optimization problems is estimated. Experimental results are presented for the problem of placing Peco graphs in a lattice with the minimum total length of the graph edges.

Soft Computing Techniques in Civil Engineering

2010 ◽  
pp. 143-159
Author(s):  
Juan L. Pérez ◽  
Juan R. Rabuñal ◽  
Fernando Martínez Abella
Keyword(s):  
Genetic Programming ◽  
Evolutionary Computation ◽  
Soft Computing ◽  
Civil Engineering ◽  
Structural Concrete ◽  
Controlled Conditions ◽  
Classical Algorithm ◽  
Soft Computing Techniques ◽  
Over Time

Soft computing techniques are applied to a huge quantity of problems spread in several areas of science. In this case, Evolutionary Computation (EC) techniques are applied, in concrete Genetic Programming (GP), to a temporary problem associated to the field of Civil Engineering. The case of study of this technique has been centered in the prediction, over time, of the behavior of the structural concrete in controlled conditions. Given the temporary nature of the case of study, it has been necessary to make several changes to the classical algorithm of GP, among whom it can be emphasized the incorporation of a new operator that gives the GP the ability to be able to solve problems with temporary behavior. The obtained results shown that the proposed method has succeeded in improving the adjustment to the current regulations about creep in the structural concrete.

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