Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking

In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize energy consumption subject to safety and task constraints. We prove several properties about the feasible space of the optimal control problem and show that velocity consensus is an optimal solution. We also motivate the inclusion of slack variables in constraint-driven problems when the global state is only partially observable by each agent. Finally, we analyze the case where the communication topology is fixed and connected, and prove that our proposed flocking rules achieve velocity consensus.Comment: 6 page

Hybridizing Invasive Weed Optimization with Firefly Algorithm for Unconstrained and Constrained Optimization Problems

This study presents a hybrid invasive weed firefly optimization (HIWFO) algorithm for global optimization problems. Unconstrained and constrained optimization problems with continuous design variables are used to illustrate the effectiveness and robustness of the proposed algorithm. The firefly algorithm (FA is effective in local search, but can easily get trapped in local optima. The invasive weed optimization (IWO) algorithm, on the other hand, is effective in accurate global search, but not in local search. Therefore, the idea of hybridization between IWO and FA is to achieve a more robust optimization technique, especially to compensate for the deficiencies of the individual algorithms. In the proposed algorithm, the firefly method is embedded into IWO to enhance the local search capability of IWO algorithm that already has very good exploration capability. The performance of the proposed method is assessed with four well-known unconstrained problems and four practical constrained problems. Comparative assessments of performance of the proposed algorithm with the original FA and IWO are carried out on the unconstrained problems and with several other hybrid methods reported in the literature on the practical constrained problems, to illustrate its effectiveness. Simulation results show that the proposed HIWFO algorithm h as superior searching quality and robustness than the approaches considered

A Modified Hybrid Genetic Algorithm for Solving Nonlinear Optimal Control Problems

Here, a two-phase algorithm is proposed for solving bounded continuous-time nonlinear optimal control problems (NOCP). In each phase of the algorithm, a modified hybrid genetic algorithm (MHGA) is applied, which performs a local search on offsprings. In first phase, a random initial population of control input values in time nodes is constructed. Next, MHGA starts with this population. After phase 1, to achieve more accurate solutions, the number of time nodes is increased. The values of the associated new control inputs are estimated by Linear interpolation (LI) or Spline interpolation (SI), using the curves obtained from the phase 1. In addition, to maintain the diversity in the population, some additional individuals are added randomly. Next, in the second phase, MHGA restarts with the new population constructed by above procedure and tries to improve the obtained solutions at the end of phase 1. We implement our proposed algorithm on 20 well-known benchmark and real world problems; then the results are compared with some recently proposed algorithms. Moreover, two statistical approaches are considered for the comparison of the LI and SI methods and investigation of sensitivity analysis for the MHGA parameters

A NATURALISTIC COMPUTATIONAL MODEL OF HUMAN BEHAVIOR IN NAVIGATION AND SEARCH TASKS

Planning, navigation, and search are fundamental human cognitive abilities central to spatial problem solving in search and rescue, law enforcement, and military operations. Despite a wealth of literature concerning naturalistic spatial problem solving in animals, literature on naturalistic spatial problem solving in humans is comparatively lacking and generally conducted by separate camps among which there is little crosstalk. Addressing this deficiency will allow us to predict spatial decision making in operational environments, and understand the factors leading to those decisions. The present dissertation is comprised of two related efforts, (1) a set of empirical research studies intended to identify characteristics of planning, execution, and memory in naturalistic spatial problem solving tasks, and (2) a computational modeling effort to develop a model of naturalistic spatial problem solving. The results of the behavioral studies indicate that problem space hierarchical representations are linear in shape, and that human solutions are produced according to multiple optimization criteria. The Mixed Criteria Model presented in this dissertation accounts for global and local human performance in a traditional and naturalistic Traveling Salesman Problem. The results of the empirical and modeling efforts hold implications for basic and applied science in domains such as problem solving, operations research, human-computer interaction, and artificial intelligence

Phylogenetic framework for coevolutionary studies: A compass for exploring jungles of tangled trees

Phylogenetics is used to detect past evolutionary events, from how species originated to how their ecological interactions with other species arose, which can mirror cophylogenetic patterns. Cophylogenetic reconstructions uncover past ecological relationships between taxa through inferred coevolutionary events on trees, for example, codivergence, duplication, host-switching, and loss. These events can be detected by cophylogenetic analyses based on nodes and the length and branching pattern of the phylogenetic trees of symbiotic associations, for example, host-parasite. In the past 2 decades, algorithms have been developed for cophylogetenic analyses and implemented in different software, for example, statistical congruence index and event-based methods. Based on the combination of these approaches, it is possible to integrate temporal information into cophylogenetical inference, such as estimates of lineage divergence times between 2 taxa, for example, hosts and parasites. Additionally, the advances in phylogenetic biogeography applying methods based on parametric process models and combined Bayesian approaches, can be useful for interpreting coevolutionary histories in a scenario of biogeographical area connectivity through time. This article briefly reviews the basics of parasitology and provides an overview of software packages in cophylogenetic methods. Thus, the objective here is to present a phylogenetic framework for coevolutionary studies, with special emphasis on groups of parasitic organisms. Researchers wishing to undertake phylogeny-based coevolutionary studies can use this review as a "compass" when "walking" through jungles of tangled phylogenetic trees.Facultad de Ciencias Naturales y Muse

Phylogenetic framework for coevolutionary studies: A compass for exploring jungles of tangled trees

Phylogenetics is used to detect past evolutionary events, from how species originated to how their ecological interactions with other species arose, which can mirror cophylogenetic patterns. Cophylogenetic reconstructions uncover past ecological relationships between taxa through inferred coevolutionary events on trees, for example, codivergence, duplication, host-switching, and loss. These events can be detected by cophylogenetic analyses based on nodes and the length and branching pattern of the phylogenetic trees of symbiotic associations, for example, host-parasite. In the past 2 decades, algorithms have been developed for cophylogetenic analyses and implemented in different software, for example, statistical congruence index and event-based methods. Based on the combination of these approaches, it is possible to integrate temporal information into cophylogenetical inference, such as estimates of lineage divergence times between 2 taxa, for example, hosts and parasites. Additionally, the advances in phylogenetic biogeography applying methods based on parametric process models and combined Bayesian approaches, can be useful for interpreting coevolutionary histories in a scenario of biogeographical area connectivity through time. This article briefly reviews the basics of parasitology and provides an overview of software packages in cophylogenetic methods. Thus, the objective here is to present a phylogenetic framework for coevolutionary studies, with special emphasis on groups of parasitic organisms. Researchers wishing to undertake phylogeny-based coevolutionary studies can use this review as a "compass" when "walking" through jungles of tangled phylogenetic trees.Facultad de Ciencias Naturales y Muse

The Hierarchic treatment of marine ecological information from spatial networks of benthic platforms

Measuring biodiversity simultaneously in different locations, at different temporal scales, and over wide spatial scales is of strategic importance for the improvement of our understanding of the functioning of marine ecosystems and for the conservation of their biodiversity. Monitoring networks of cabled observatories, along with other docked autonomous systems (e.g., Remotely Operated Vehicles [ROVs], Autonomous Underwater Vehicles [AUVs], and crawlers), are being conceived and established at a spatial scale capable of tracking energy fluxes across benthic and pelagic compartments, as well as across geographic ecotones. At the same time, optoacoustic imaging is sustaining an unprecedented expansion in marine ecological monitoring, enabling the acquisition of new biological and environmental data at an appropriate spatiotemporal scale. At this stage, one of the main problems for an effective application of these technologies is the processing, storage, and treatment of the acquired complex ecological information. Here, we provide a conceptual overview on the technological developments in the multiparametric generation, storage, and automated hierarchic treatment of biological and environmental information required to capture the spatiotemporal complexity of a marine ecosystem. In doing so, we present a pipeline of ecological data acquisition and processing in different steps and prone to automation. We also give an example of population biomass, community richness and biodiversity data computation (as indicators for ecosystem functionality) with an Internet Operated Vehicle (a mobile crawler). Finally, we discuss the software requirements for that automated data processing at the level of cyber-infrastructures with sensor calibration and control, data banking, and ingestion into large data portals.Peer ReviewedPostprint (published version

Multitemporal Feature-Level Fusion on Hyperspectral and LiDAR Data in the Urban Environment

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