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Global and Local Area Coverage Path Planner for a Reconfigurable Robot 一种可重构机器人的全局和局部覆盖路径规划
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870308
S. Samarakoon, M. Muthugala, M. R. Elara
Area coverage is essential for robots used in cleaning, painting, and exploration applications. Reconfigurable robots have been introduced to solve the area coverage limitation of fixed-shape robots. The existing global coverage algorithms of reconfigurable robots are limited to consideration of a limited set of predefined shapes for the reconfiguration and do not consider the exact geometrical shape of obstacles. Therefore, degraded coverage performance could be observed from the existing methods. On the other hand, the coverage methods that consider reconfiguring beyond a limited set of predefined shapes are limited to local coverage. Furthermore, these methods only consider a single reconfiguration for the coverage. Therefore, this paper proposes a novel coverage method for a reconfigurable robot consisting of both global and local path planners. The global path planner uses boustrophedon motion combined with the A * algorithm. The optimum grid positioning that maximizes the global coverage is determined through a Genetic Algorithm (GA). The local coverage planner performs continuous reconfig-uration of the robot to adequately cover obstacle zones while navigating through narrow spaces without collisions. A GA is used to determine the reconfiguration parameters of the robot at each instance of the local coverage. Simulation results confirm that the proposed method is effective in performing both global and local coverage path planning for improving the area coverage performance.
区域覆盖对于用于清洁,油漆和勘探应用的机器人至关重要。可重构机器人的引入解决了固定形状机器人覆盖区域的限制。现有的可重构机器人全局覆盖算法只能考虑有限的预定义形状,不能考虑障碍物的精确几何形状。因此,从现有的方法中可以观察到覆盖性能下降。另一方面,考虑在有限的预定义形状集合之外重新配置的覆盖方法仅限于局部覆盖。此外,这些方法只考虑覆盖的单个重新配置。因此,本文提出了一种由全局路径规划器和局部路径规划器组成的可重构机器人的覆盖方法。全局路径规划器采用单突运动结合A *算法。通过遗传算法(GA)确定最大全球覆盖率的最优网格定位。局部覆盖规划器执行机器人的连续重新配置,以充分覆盖障碍物区域,同时在狭窄的空间中导航而不会发生碰撞。利用遗传算法确定机器人在每个局部覆盖实例下的重构参数。仿真结果表明,该方法可以有效地进行全局和局部覆盖路径规划,提高区域覆盖性能。
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引用次数: 0
2022 Conference Proceedings 2022年会议记录
Pub Date : 2022-07-18 DOI: 10.1109/cec55065.2022.9870379
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引用次数: 1
Avoiding strategic behaviors in the egalitarian social welfare under public resources and non-additive utilities 避免公共资源和非附加效用下的平均主义社会福利中的战略行为
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870315
Jonathan Carrero, Ismael Rodríguez, F. Rubio
In multi-agent resource allocation systems, it is reasonable that the specific allocation of resources depends on the utility functions declared by the different agents. However, this can easily lead to strategic behaviors in which the agents involved are interested in lying, since such lies can bring them more profitable deals. In this paper we analyze the case of egalitarian social welfare, where the objective is to maximize the utility of the agent who receives the least utility. In this context, agents can obtain advantages by undervaluing their preferences. Thus, we will see how to discourage such lies even in the presence of public goods and non-additive utilities. Likewise, we will use genetic algorithms to show, through experimental results, the robustness of our proposal against lies.
在多智能体资源分配系统中,资源的具体分配取决于不同智能体声明的效用函数,这是合理的。然而,这很容易导致代理商对撒谎感兴趣的战略行为,因为这种谎言可以给他们带来更有利可图的交易。本文分析了平均主义社会福利的情况,其目标是使获得最小效用的代理人的效用最大化。在这种情况下,代理人可以通过低估他们的偏好来获得优势。因此,我们将看到即使在公共产品和非附加效用存在的情况下,如何阻止这种谎言。同样,我们将使用遗传算法,通过实验结果来证明我们的建议对谎言的鲁棒性。
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引用次数: 0
Digital Twin Based Evolutionary Building Facility Control Optimization 基于数字孪生的建筑设施演化控制优化
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870207
Kohei Fukuhara, Ryo Kumagai, Fukawa Yuta, S. Tanabe, Hiroki Kawano, Yoshihiro Ohta, Hiroyuki Sato
This work addresses a real-world building facility control problem by using evolutionary algorithms. The variables are facility control parameters, such as the start/stop time of air-conditioning, lighting, and ventilation operation, etc. The problem has six objectives: annual energy consumption, elec-tricity cost, overall satisfaction, thermal satisfaction, indoor air quality satisfaction, and lighting satisfaction. The problem has five constraints: power consumption, temperature, humidity, $mathbf{CO}_{2}$ concentration, and average illuminance. To solve the problem, we utilize IBEA framework. For efficient solution generation, we employ the steady-state model for IBEA. We propose the total constraint win-loss rank for multiple constraints to treat multiple constraints equally. Experimental results on artificial test problems and building facility control problems show that the proposed constraint IBEA with steady-state and total con-straint win-loss rank archives better search performance than conventional representative algorithms.
这项工作通过使用进化算法解决了一个现实世界的建筑设施控制问题。变量为设施控制参数,如空调开/停时间、照明、通风运行等。问题有六个目标:年能耗、电费、整体满意度、热满意度、室内空气质量满意度和照明满意度。该问题有五个约束条件:功耗、温度、湿度、$mathbf{CO}_{2}$浓度和平均照度。为了解决这个问题,我们采用了IBEA框架。为了有效地生成解,我们采用了IBEA的稳态模型。为了平等地对待多个约束,我们提出了多个约束的总约束盈亏秩。在人工测试问题和建筑设施控制问题上的实验结果表明,本文提出的具有稳态和全约束输赢等级档案的约束IBEA比传统的代表性算法具有更好的搜索性能。
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引用次数: 2
Parameter Tuning and Control: A Case Study on Differential Evolution With Polynomial Mutation 参数整定与控制:以多项式突变的微分进化为例
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870219
Julian Blank, K. Deb
Metaheuristics are known to be effective for solving a broad category of optimization problems. However, most heuristics require different parameter settings appropriately for a problem class or even for a specific problem. Researchers address this commonly by performing a parameter tuning study (also known as hyper-parameter optimization) or developing a parameter control mechanism that changes parameters dynamically. Whereas parameter tuning is computationally expensive and limits the parameter configuration to stay constant throughout the run, parameter control is also a challenging task because all dynamics induced by various operators must be learned to make an appropriate adaptation of parameters on the fly. This paper investigates parameter tuning and control for a well-known optimization method - differential evolution (DE). In contrast to most existing DE practices, an additional individualistic evolutionary operator called polynomial mutation is incorporated into the offspring creation. Results on test problems with up to 50 variables indicate that mutation can be helpful for multi-modal problems to escape from local optima. On the one hand, the effectiveness of parameter tuning for a specific problem becomes apparent; on the other hand, its generalization capabilities seem to be limited. Moreover, a generic coevolutionary approach for parameter control outperforms a random choice of parameters. Recognizing the importance of choosing a suitable parameter configuration to solve any optimization problem, we have incorporated a standard implementation of both tuning and control approaches into a single framework, providing a direction for the evolutionary computation and optimization researchers to use and further investigate the effects of parameters on DE and other metaheuristics-based algorithms.
众所周知,元启发式对于解决广泛的优化问题是有效的。然而,大多数启发式方法需要针对问题类甚至特定问题适当地设置不同的参数。研究人员通常通过进行参数调优研究(也称为超参数优化)或开发动态改变参数的参数控制机制来解决这个问题。由于参数调优在计算上是昂贵的,并且限制了参数配置在整个运行过程中保持不变,参数控制也是一项具有挑战性的任务,因为必须了解由各种操作引起的所有动态,以便在运行中对参数进行适当的调整。本文研究了一种著名的优化方法——微分进化(DE)的参数调整和控制。与大多数现有的DE实践相反,在后代的创造中加入了一个额外的个人进化算子,称为多项式突变。对多达50个变量的测试问题的结果表明,突变有助于多模态问题摆脱局部最优。一方面,参数调优对特定问题的有效性变得明显;另一方面,它的泛化能力似乎有限。此外,参数控制的通用协同进化方法优于随机选择参数。认识到选择合适的参数配置来解决任何优化问题的重要性,我们将调优和控制方法的标准实现合并到一个框架中,为进化计算和优化研究人员使用和进一步研究参数对DE和其他基于元启发式的算法的影响提供了方向。
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引用次数: 2
Performance of Composite PPSO on Single Objective Bound Constrained Numerical Optimization Problems of CEC 2022 复合PPSO在CEC 2022单目标有界约束数值优化问题上的性能
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870369
Bo Sun, Wei Li, Y. Huang
Particle swarm optimization has been extensively noticed for its fast convergence speed with few parameters. However, it would be plagued by the premature convergence only affected by the global particles. In this study, Composite Proactive Particles in Swarm Optimization (Co-PPSO) is proposed. In Co-PPSO, the composite strategy framework is embedded into Proactive Particles in Swarm Optimization (PPSO), that is, three learning strategies are proposed to evaluate their differences and select the most suitable one for each particle. In addition, an elite group is constructed to make the particles jump out of the situation that they are only affected by the global best one in the particle swarm, and further improve the convergence accuracy. CEC2022 competition of single objective bound-constrained numerical optimization is employed to test the effect of 10-$D$ and 20-$D$ optimization, and four well-known PSO variants were used for comparison. The experimental results show that the Co-PPSO has certain competitiveness to improve premature convergence.
粒子群算法以其收敛速度快、参数少而受到广泛关注。但是,它会受到仅受全局粒子影响的过早收敛的困扰。本研究提出了一种复合主动粒子群优化算法(Co-PPSO)。在Co-PPSO中,将复合策略框架嵌入到主动粒子群优化(Proactive Particles In Swarm Optimization, PPSO)中,提出了三种学习策略来评估它们之间的差异,并为每个粒子选择最合适的学习策略。此外,构造了一个精英群,使粒子群跳出了粒子群中只受全局最优粒子影响的局面,进一步提高了收敛精度。采用CEC2022竞争单目标约束数值优化来测试10-$D$和20-$D$优化的效果,并使用四种知名的PSO变体进行比较。实验结果表明,Co-PPSO在改善过早收敛方面具有一定的竞争力。
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引用次数: 5
Joint Optimization of Topology and Hyperparameters of Hybrid DNNs for Sentence Classification 混合深度神经网络拓扑和超参数联合优化的句子分类
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870285
Brendan Rogers, N. Noman, S. Chalup, P. Moscato
Deep Neural Networks (DNN) require specifically tuned architectures and hyperparameters when being applied to any given task. Nature-inspired algorithms have been successfully applied for optimising various hyperparameters in different types of DNNs such as convolutional and recurrent for sentence classification. Hybrid networks, which contain multiple types of neural architectures have more recently been used for sentence classification in order to achieve better performance. However, the inclusion of hybrid architectures creates numerous possibilities of designing the network and those sub-networks also need fine-tuning. At present these hybrid networks are designed manually and various organisation attempts are noticed. In order to understand the benefit and the best design principle of such hybrid DNNs for sentence classification, in this work we used an Evolutionary Algorithm (EA) to optimise the topology and various hyperparameters in different types of layers within the network. In our experiments, the proposed EA designed the hybrid networks by using a single dataset and evaluated the evolved networks on multiple other datasets to validate their generalisation capability. We compared the EA-designed hybrid networks with human-designed hybrid networks in addition to other EA-optimised and expert-designed non-hybrid architectures.
深度神经网络(DNN)在应用于任何给定任务时都需要特别调整的架构和超参数。受自然启发的算法已经成功地应用于优化不同类型dnn中的各种超参数,例如卷积和循环的句子分类。混合网络包含多种类型的神经结构,最近被用于句子分类,以获得更好的性能。然而,混合体系结构的包含为设计网络创造了许多可能性,并且这些子网络也需要微调。目前这些混合网络都是手工设计的,并且注意到各种组织尝试。为了理解这种混合dnn用于句子分类的好处和最佳设计原则,在这项工作中,我们使用进化算法(EA)来优化网络中不同类型层的拓扑和各种超参数。在我们的实验中,提出的EA通过使用单个数据集设计混合网络,并在多个其他数据集上评估进化的网络以验证其泛化能力。我们将ea设计的混合网络与人工设计的混合网络以及其他ea优化和专家设计的非混合架构进行了比较。
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引用次数: 0
Optimization of real-world supply routes by nature-inspired metaheuristics 基于自然启发的元启发式优化现实世界供应路线
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870405
P. Krömer, Vojtěch Uher
The traveling salesman problem (TSP) is an iconic permutation problem with a number of applications in planning, scheduling, and logistics. It has also attracted much attention as a benchmarking problem frequently used to assess the properties of a variety of nature-inspired optimization methods. However, the standard libraries of TSP instances, such as the TSPLIB, are often decades old and might not reflect the requirements of modern real-world applications very well. In this work, we introduce several novel TSP instances representing real-world locations of pharmacies in several major cities of the Czech Republic. We look for the optimum routes between the pharmacies by selected nature-inspired algorithms and compare the results obtained on the real-world instances with their results on standard TSPLIB instances.
旅行商问题(TSP)是一个典型的排列问题,在计划、调度和物流等领域有着广泛的应用。它也引起了广泛的关注,作为一个基准问题,经常用于评估各种自然启发的优化方法的性质。然而,TSP实例的标准库(如TSPLIB)通常有几十年的历史,可能不能很好地反映现代实际应用程序的需求。在这项工作中,我们介绍了几个新颖的TSP实例,代表了捷克共和国几个主要城市的药房的真实位置。我们通过选择的自然启发算法寻找药房之间的最佳路线,并将在现实世界实例上获得的结果与在标准TSPLIB实例上获得的结果进行比较。
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引用次数: 1
An Improved Ant Colony Approach for the Competitive Traveling Salesmen Problem 竞争旅行商问题的改进蚁群算法
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870414
Xinyang Du, Ruibin Bai, Tianxiang Cui, R. Qu, Jiawei Li
A competitive traveling salesmen problem is a variant of traveling salesman problem in that multiple agents compete with each other in visiting a number of cities. The agent who is the first one to visit a city will receive a reward. Each agent aims to collect as more rewards as possible with the minimum traveling distance. There is still not effective algorithms for this complicated decision making problem. We investigate an improved ant colony approach for the competitive traveling sales-men problem which adopts a time dominance mechanism and a revised pheromone depositing method to improve the quality of solutions with less computational complexity. Simulation results show that the proposed algorithm outperforms the state of art algorithms.
竞争旅行推销员问题是旅行推销员问题的一种变体,即多个代理人在访问多个城市时相互竞争。第一个到达城市的代理人将获得奖励。每个agent的目标都是在最短的行驶距离内获得尽可能多的奖励。对于这一复杂的决策问题,目前还没有有效的算法。本文研究了一种改进的蚁群算法,该算法采用时间优势机制和改进的信息素沉积方法,以降低计算复杂度,提高求解质量。仿真结果表明,该算法优于现有算法。
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引用次数: 1
A Surrogate Model Assisted Estimation of Distribution Algorithm with Mutil-acquisition Functions for Expensive Optimization 一种具有多获取函数的代理模型辅助估计分布算法用于昂贵优化
Pub Date : 2022-07-18 DOI: 10.1109/CEC55065.2022.9870436
Hao Hao, Shuai Wang, Bingdong Li, Aimin Zhou
The estimation of distribution algorithm (EDA) is an efficient heuristic method for handling black-box optimization problems since the ability for global population distribution modeling and gradient-free searching. However, the trial and error search mechanism relies on a large number of function evaluations, which is a considerable challenge under expensive black-box problems. Therefore, this article presents a surrogate assisted EDA with multi-acquisition functions. Firstly, a variable-width histogram is used as the global distribution model that focuses on promising areas. Next, the evaluated-free local search method improves the quality of new generation solutions. Fi-nally, model management with multiple acquisitions maintains global and local exploration preferences. Several commonly used benchmark functions with 20 and 50 dimensions are adopted to evaluate the proposed algorithm compared with several state-of-the-art surrogate assisted evaluation algorithms (SAEAs) and Bayesian optimization method. In addition, a rover trajectories optimizing problem is used to verify the ability to solve complex problems. The experimental results demonstrate the superiority of the proposed algorithm over these comparison algorithms.
分布估计算法(EDA)由于具有全局种群分布建模和无梯度搜索的能力,是一种有效的处理黑盒优化问题的启发式方法。然而,试错搜索机制依赖于大量的函数评估,这在昂贵的黑箱问题下是一个相当大的挑战。因此,本文提出了一种具有多采集功能的代理辅助EDA。首先,采用变宽直方图作为全局分布模型,重点关注有希望的区域;其次,无评价局部搜索方法提高了新一代解的质量。最后,具有多个收购的模型管理保持了全球和本地勘探偏好。采用几种常用的20维和50维基准函数对该算法进行了评价,并与几种最先进的代理辅助评价算法(saea)和贝叶斯优化方法进行了比较。此外,还利用一个漫游车轨迹优化问题来验证求解复杂问题的能力。实验结果表明,该算法优于现有的比较算法。
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引用次数: 1
期刊
2022 IEEE Congress on Evolutionary Computation (CEC)
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