A new approach to robot motion planning is proposed by applying ant colony optimization (ACO) with the probabilistic roadmap planner (PRM). The aim of this approach is to apply ACO to 3-dimensional robot motion planning which is complicated when involving mobile 6-dof or multiple articulated robots. An ant colony robot motion planning (ACRMP) method is proposed that has the benefit of collective behaviour of ants foraging from a nest to a food source. A number of artificial ants are released from the nest (start configuration) and begin to forage (search) towards the food (goal configuration). During the foraging process, a 1-TREE (uni-directional) searching strategy is applied in order to establish any possible connection from the nest to goal. Results from preliminary tests show that the ACRMP is capable of reducing the intermediate configuration between the Initial and goal configuration in an acceptable running time
{"title":"Articulated Robot Motion Planning Using Ant Colony Optimisation","authors":"M.M. Mohamad, N. Taylor, M. Dunnigan","doi":"10.1109/IS.2006.348503","DOIUrl":"https://doi.org/10.1109/IS.2006.348503","url":null,"abstract":"A new approach to robot motion planning is proposed by applying ant colony optimization (ACO) with the probabilistic roadmap planner (PRM). The aim of this approach is to apply ACO to 3-dimensional robot motion planning which is complicated when involving mobile 6-dof or multiple articulated robots. An ant colony robot motion planning (ACRMP) method is proposed that has the benefit of collective behaviour of ants foraging from a nest to a food source. A number of artificial ants are released from the nest (start configuration) and begin to forage (search) towards the food (goal configuration). During the foraging process, a 1-TREE (uni-directional) searching strategy is applied in order to establish any possible connection from the nest to goal. Results from preliminary tests show that the ACRMP is capable of reducing the intermediate configuration between the Initial and goal configuration in an acceptable running time","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129193353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents SemAnt, a novel ant-based multi-agent system designed for distributed query routing. While the ant metaphor has been successfully applied to network routing both in wireless and fixed networks, little is yet known about its applicability to the task of query routing in distributed environments. We point out the similarities and dissimilarities between routing of data packets and routing of queries, and we present the design of SemAnt, which is based on the ant colony optimization meta-heuristic. For experimental evaluation, we deploy the algorithm in a peer-to-peer environment with a real-world application scenario and compare its performance against the well-known k-random walker approach. As we show, the benefits of SemAnt are that the routes for queries are optimized according to their popularity, and that the algorithm is highly suitable for volatile environments
{"title":"Applying Ant-based Multi-Agent Systems to Query Routing in Distributed Environments","authors":"E. Michlmayr, A. Pany, S. Graf","doi":"10.1109/IS.2006.348390","DOIUrl":"https://doi.org/10.1109/IS.2006.348390","url":null,"abstract":"This paper presents SemAnt, a novel ant-based multi-agent system designed for distributed query routing. While the ant metaphor has been successfully applied to network routing both in wireless and fixed networks, little is yet known about its applicability to the task of query routing in distributed environments. We point out the similarities and dissimilarities between routing of data packets and routing of queries, and we present the design of SemAnt, which is based on the ant colony optimization meta-heuristic. For experimental evaluation, we deploy the algorithm in a peer-to-peer environment with a real-world application scenario and compare its performance against the well-known k-random walker approach. As we show, the benefits of SemAnt are that the routes for queries are optimized according to their popularity, and that the algorithm is highly suitable for volatile environments","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123942186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A systematic methodology for measuring and designing a command and control (C2) organization in battlefield is presented. Layers description of C2 organization is founded. Based on layers description of C2 organization, conceptions about efficient measurement of C2 organization is defined, which includes complex of mission environments, validity of organizational processes and fitness of organizational structure. The method of designing C2 organization is proposed on these works
{"title":"A Systematic Methodology for Measuring and Designing C2 Organization","authors":"Xiaohong Peng, Dongsheng Yang, Zhong Liu, Jincai Huang","doi":"10.1109/IS.2006.348438","DOIUrl":"https://doi.org/10.1109/IS.2006.348438","url":null,"abstract":"A systematic methodology for measuring and designing a command and control (C2) organization in battlefield is presented. Layers description of C2 organization is founded. Based on layers description of C2 organization, conceptions about efficient measurement of C2 organization is defined, which includes complex of mission environments, validity of organizational processes and fitness of organizational structure. The method of designing C2 organization is proposed on these works","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123960514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The determination of the solution for simultaneous localization and mapping (SLAM) problems has gained significant research momentum in recent times. Although extended Kalman filters have been extensively employed to solve these problems in mobile robots, the performance of the EKF can degrade significantly, if the correct a priori knowledge of process and sensor/measurement noise covariance matrices (Q and R respectively) is not available. Hence, the present paper proposes the development of a new robust solution method for SLAM problems where we employ a neuro-fuzzy system to supervise the performance of the EKF for SLAM problems and take necessary corrective actions by adapting the sensor statistics online, so that the degradation in system performance can be arrested. The free parameters of the neuro-fuzzy system are learned offline, by employing particle swarm optimization in the training phase. The system hence proposed is successfully evaluated by employing it to localize a mobile robot and simultaneously acquire the map of the environment, under benchmark environment situations with varying landmarks and with wrong knowledge of sensor statistics
{"title":"Improving EKF-based solutions for SLAM problems in Mobile Robots employing Neuro-Fuzzy Supervision","authors":"A. Chatterjee, F. Matsuno","doi":"10.1109/IS.2006.348502","DOIUrl":"https://doi.org/10.1109/IS.2006.348502","url":null,"abstract":"The determination of the solution for simultaneous localization and mapping (SLAM) problems has gained significant research momentum in recent times. Although extended Kalman filters have been extensively employed to solve these problems in mobile robots, the performance of the EKF can degrade significantly, if the correct a priori knowledge of process and sensor/measurement noise covariance matrices (Q and R respectively) is not available. Hence, the present paper proposes the development of a new robust solution method for SLAM problems where we employ a neuro-fuzzy system to supervise the performance of the EKF for SLAM problems and take necessary corrective actions by adapting the sensor statistics online, so that the degradation in system performance can be arrested. The free parameters of the neuro-fuzzy system are learned offline, by employing particle swarm optimization in the training phase. The system hence proposed is successfully evaluated by employing it to localize a mobile robot and simultaneously acquire the map of the environment, under benchmark environment situations with varying landmarks and with wrong knowledge of sensor statistics","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"304 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124334082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Negative selection algorithm is used to generate detector for change detection, anomaly detection. But it can not be adapted to the change of self data because the match threshold must be set at first. To solve the problem, I-TMA-GA and TMA-MRM inspired from the maturation of T-cells are proposed. But genetic algorithm is used to evolve the detector population with minimal selfmax. In this paper, to achieve the maximal coverage of nonselves, genetic algorithm is used to evolve the detector population with minimal match range with selfmax and selfmin. An augmented algorithm called T-detectors maturation algorithm based on min-match range model is proposed. The proposed algorithm is tested by simulation experiment for anomaly detection and compared with NSA, I-TMA-GA and TMA-MRM. The results show that the proposed algorithm is more effective than others
{"title":"T-detectors Maturation Algorithm with in-Match Range Model","authors":"Jungan Chen","doi":"10.1109/IS.2006.348385","DOIUrl":"https://doi.org/10.1109/IS.2006.348385","url":null,"abstract":"Negative selection algorithm is used to generate detector for change detection, anomaly detection. But it can not be adapted to the change of self data because the match threshold must be set at first. To solve the problem, I-TMA-GA and TMA-MRM inspired from the maturation of T-cells are proposed. But genetic algorithm is used to evolve the detector population with minimal selfmax. In this paper, to achieve the maximal coverage of nonselves, genetic algorithm is used to evolve the detector population with minimal match range with selfmax and selfmin. An augmented algorithm called T-detectors maturation algorithm based on min-match range model is proposed. The proposed algorithm is tested by simulation experiment for anomaly detection and compared with NSA, I-TMA-GA and TMA-MRM. The results show that the proposed algorithm is more effective than others","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124534242","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A novel fuzzy identification algorithm is introduced that is based on fuzzy interpolation of locally linear models obtained from a nonlinear system. Fuzzy clustering is employed to automatically decompose operating envelope of a nonlinear system into optimal number of operating partitions by means of optimal number of rules in a Tagaki-Sugeno fuzzy set direct realistic extension to flight control is introduced and applied on a tail-controlled skid-to-turn missile. The fuzzy model is evaluated using simulations of the complete nonlinear model. Simulation studies are reported to demonstrate merits of fuzzy systems in handling the demanding nonlinear modeling task
{"title":"Control-Oriented Fuzzy Multi-Model Identification of a Highly Nonlinear Missile","authors":"S. V. Hashemi, A. Mehrabian, J. Roshanian","doi":"10.1109/IS.2006.348440","DOIUrl":"https://doi.org/10.1109/IS.2006.348440","url":null,"abstract":"A novel fuzzy identification algorithm is introduced that is based on fuzzy interpolation of locally linear models obtained from a nonlinear system. Fuzzy clustering is employed to automatically decompose operating envelope of a nonlinear system into optimal number of operating partitions by means of optimal number of rules in a Tagaki-Sugeno fuzzy set direct realistic extension to flight control is introduced and applied on a tail-controlled skid-to-turn missile. The fuzzy model is evaluated using simulations of the complete nonlinear model. Simulation studies are reported to demonstrate merits of fuzzy systems in handling the demanding nonlinear modeling task","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130195416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper proposes a comparison between models that relieves the characteristics of the patient evolution in sepsis as the result of correct or corrupted information transfer as the cell level. Specifically, two different models for the cellular interactions are compared - one based on a three variables system of differential equations, the other on a cellular interaction scale free network. The advantages and limits of each model in understanding the structure of cellular signaling networks involved in sepsis phenomena are finally discussed
{"title":"Differential Equations Systems versus Scale Free Networks in Sepsis Modeling","authors":"R. Dobrescu, D. Andone, M. Dobrescu, S. Mocanu","doi":"10.1109/IS.2006.348392","DOIUrl":"https://doi.org/10.1109/IS.2006.348392","url":null,"abstract":"The paper proposes a comparison between models that relieves the characteristics of the patient evolution in sepsis as the result of correct or corrupted information transfer as the cell level. Specifically, two different models for the cellular interactions are compared - one based on a three variables system of differential equations, the other on a cellular interaction scale free network. The advantages and limits of each model in understanding the structure of cellular signaling networks involved in sepsis phenomena are finally discussed","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"52 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116837609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Basso, A. Bolotov, A. Basukoski, V. Getov, L. Henrio, M. Urbański
In this work we present an approach for the formal specification and verification of the reconfiguration protocols in grid component systems. We consider fractal, a modular and extensible component model. As a specification tool we invoke a specific temporal language, separated clausal normal form, which has been shown to be capable of expressing any ECTiL+ expression, thus, we are able to express the complex fairness properties of a component system. The structure of the normal enables us to directly apply the deductive verification technique, temporal resolution defined in the framework of branching-time temporal logic
{"title":"Specilfication and Verilfication of Rleconfiguration Protocols in Grid Comnponent Systemns","authors":"A. Basso, A. Bolotov, A. Basukoski, V. Getov, L. Henrio, M. Urbański","doi":"10.1109/IS.2006.348461","DOIUrl":"https://doi.org/10.1109/IS.2006.348461","url":null,"abstract":"In this work we present an approach for the formal specification and verification of the reconfiguration protocols in grid component systems. We consider fractal, a modular and extensible component model. As a specification tool we invoke a specific temporal language, separated clausal normal form, which has been shown to be capable of expressing any ECTiL+ expression, thus, we are able to express the complex fairness properties of a component system. The structure of the normal enables us to directly apply the deductive verification technique, temporal resolution defined in the framework of branching-time temporal logic","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"24 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125929232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Clustering is an essential process that leads to the classification of a given set of instances based on user-specified criteria; and different factors may lead to different clustering results. Thus, a large number of clustering algorithms exist to satisfy different purposes. However, scalability and the fact that algorithms in general need the number of clusters be specified a priori, which is mostly hard to estimate even for domain experts, are two challenges that motivate the development of new algorithms. This paper presents a novel approach to handle these two issues. We mainly developed a clustering method that works as an iterative approach to handle the scalability problem; and we utilize multi-objective genetic algorithm combined with validity indexes to decide on the number of clusters. The basic idea is to partition the dataset first; then cluster each partition separately. Finally, each obtained cluster is treated as a single instance (represented by its centroid) and a conquer process is performed to get the final clustering of the complete dataset. Test results on one large real dataset demonstrate the applicability and effectiveness of the proposed approach
{"title":"Achieving Natural Clustering by Validating Results of Iterative Evolutionary Clustering Approach","authors":"Tansel Özyer, R. Alhajj","doi":"10.1109/IS.2006.348468","DOIUrl":"https://doi.org/10.1109/IS.2006.348468","url":null,"abstract":"Clustering is an essential process that leads to the classification of a given set of instances based on user-specified criteria; and different factors may lead to different clustering results. Thus, a large number of clustering algorithms exist to satisfy different purposes. However, scalability and the fact that algorithms in general need the number of clusters be specified a priori, which is mostly hard to estimate even for domain experts, are two challenges that motivate the development of new algorithms. This paper presents a novel approach to handle these two issues. We mainly developed a clustering method that works as an iterative approach to handle the scalability problem; and we utilize multi-objective genetic algorithm combined with validity indexes to decide on the number of clusters. The basic idea is to partition the dataset first; then cluster each partition separately. Finally, each obtained cluster is treated as a single instance (represented by its centroid) and a conquer process is performed to get the final clustering of the complete dataset. Test results on one large real dataset demonstrate the applicability and effectiveness of the proposed approach","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125977952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The notion of intuitionistic fuzzy approximation space is introduced. Rough sets on such spaces are defined and some of their properties are studied
引入了直觉模糊近似空间的概念。定义了这些空间上的粗糙集，并研究了它们的一些性质
{"title":"Rough Sets on Intuitionistic Fuzzy Approximation Spaces","authors":"B. Tripathy","doi":"10.1109/IS.2006.348519","DOIUrl":"https://doi.org/10.1109/IS.2006.348519","url":null,"abstract":"The notion of intuitionistic fuzzy approximation space is introduced. Rough sets on such spaces are defined and some of their properties are studied","PeriodicalId":116809,"journal":{"name":"2006 3rd International IEEE Conference Intelligent Systems","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127482967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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