A Dynamic System Model of Biogeography-Based Optimization

We derive a dynamic system model for biogeography-based optimization (BBO) that is asymptotically exact as the population size approaches infinity. The states of the dynamic system are equal to the proportion of each individual in the population; therefore, the dimension of the dynamic system is equal to the search space cardinality of the optimization problem. The dynamic system model allows us to derive the proportion of each individual in the population for a given optimization problem using theory rather than simulation. The results of the dynamic system model are more precise than simulation, especially for individuals that are very unlikely to occur in the population. Since BBO is a generalization of a certain type of genetic algorithm with global uniform recombination (GAGUR), an additional contribution of our work is a dynamic system model for GAGUR. We verify our dynamic system models with simulation results. We also use the models to compare BBO, GAGUR, and a GA with single-point crossover (GASP) for some simple problems. We see that with small mutation rates, as are typically used in real-world problems, BBO generally results in better optimization results than GAs for the problems that we investigate

A Dynamic System Model of Biogeography-Based Optimization

We derive a dynamic system model for biogeography-based optimization (BBO) that is asymptotically exact as the population size approaches infinity. The states of the dynamic system are equal to the proportion of each individual in the population; therefore, the dimension of the dynamic system is equal to the search space cardinality of the optimization problem. The dynamic system model allows us to derive the proportion of each individual in the population for a given optimization problem using theory rather than simulation. The results of the dynamic system model are more precise than simulation, especially for individuals that are very unlikely to occur in the population. Since BBO is a generalization of a certain type of genetic algorithm with global uniform recombination (GAGUR), an additional contribution of our work is a dynamic system model for GAGUR. We verify our dynamic system models with simulation results. We also use the models to compare BBO, GAGUR, and a GA with single-point crossover (GASP) for some simple problems. We see that with small mutation rates, as are typically used in real-world problems, BBO generally results in better optimization results than GAs for the problems that we investigate

A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea environment, where spatio-temporal variability of the operating field is taken into account. To this end, a high level reactive mission planner and a low level motion planning system are constructed. The high level system is responsible for task priority assignment and guiding the vehicle toward a target of interest considering on-time termination of the mission. The lower layer is in charge of generating optimal trajectories based on sequence of tasks and dynamicity of operating terrain. The mission planner is able to reactively re-arrange the tasks based on mission/terrain updates while the low level planner is capable of coping unexpected changes of the terrain by correcting the old path and re-generating a new trajectory. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The computational engine of the mentioned framework is based on the biogeography based optimization (BBO) algorithm that is capable of providing efficient solutions. To evaluate the performance of the proposed framework, firstly, a realistic model of undersea environment is provided based on realistic map data, and then several scenarios, treated as real experiments, are designed through the simulation study. Additionally, to show the robustness and reliability of the framework, Monte-Carlo simulation is carried out and statistical analysis is performed. The results of simulations indicate the significant potential of the two-level hierarchical mission planning system in mission success and its applicability for real-time implementation

Assumption 0 analysis: comparative phylogenetic studies in the age of complexity

Darwin's panoramic view of biology encompassed two metaphors: the phylogenetic tree, pointing to relatively linear (and divergent) complexity, and the tangled bank, pointing to reticulated (and convergent) complexity. The emergence of phylogenetic systematics half a century ago made it possible to investigate linear complexity in biology. Assumption 0, first proposed in 1986, is not needed for cases of simple evolutionary patterns, but must be invoked when there are complex evolutionary patterns whose hallmark is reticulated relationships. A corollary of Assumption 0, the duplication convention, was proposed in 1990, permitting standard phylogenetic systematic ontology to be used in discovering reticulated evolutionary histories. In 2004, a new algorithm, phylogenetic analysis for comparing trees (PACT), was developed specifically for use in analyses invoking Assumption 0. PACT can help discern complex evolutionary explanations for historical biogeographical, coevolutionary, phylogenetic, and tokogenetic processe