129,457 research outputs found
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
The matching relaxation for a class of generalized set partitioning problems
This paper introduces a discrete relaxation for the class of combinatorial
optimization problems which can be described by a set partitioning formulation
under packing constraints. We present two combinatorial relaxations based on
computing maximum weighted matchings in suitable graphs. Besides providing dual
bounds, the relaxations are also used on a variable reduction technique and a
matheuristic. We show how that general method can be tailored to sample
applications, and also perform a successful computational evaluation with
benchmark instances of a problem in maritime logistics.Comment: 33 pages. A preliminary (4-page) version of this paper was presented
at CTW 2016 (Cologne-Twente Workshop on Graphs and Combinatorial
Optimization), with proceedings on Electronic Notes in Discrete Mathematic
A Genetic Programming Framework for Two Data Mining Tasks: Classification and Generalized Rule Induction
This paper proposes a genetic programming (GP) framework for two major data mining tasks, namely classification and generalized rule induction. The framework emphasizes the integration between a GP algorithm and relational database systems. In particular, the fitness of individuals is computed by submitting SQL queries to a (parallel) database server. Some advantages of this integration from a data mining viewpoint are scalability, data-privacy control and automatic parallelization
Global supply chains of high value low volume products
Imperial Users onl
Price decomposition in large-scale stochastic optimal control
We are interested in optimally driving a dynamical system that can be
influenced by exogenous noises. This is generally called a Stochastic Optimal
Control (SOC) problem and the Dynamic Programming (DP) principle is the natural
way of solving it. Unfortunately, DP faces the so-called curse of
dimensionality: the complexity of solving DP equations grows exponentially with
the dimension of the information variable that is sufficient to take optimal
decisions (the state variable). For a large class of SOC problems, which
includes important practical problems, we propose an original way of obtaining
strategies to drive the system. The algorithm we introduce is based on
Lagrangian relaxation, of which the application to decomposition is well-known
in the deterministic framework. However, its application to such closed-loop
problems is not straightforward and an additional statistical approximation
concerning the dual process is needed. We give a convergence proof, that
derives directly from classical results concerning duality in optimization, and
enlghten the error made by our approximation. Numerical results are also
provided, on a large-scale SOC problem. This idea extends the original DADP
algorithm that was presented by Barty, Carpentier and Girardeau (2010)
Enhanced genetic algorithm-based fuzzy multiobjective strategy to multiproduct batch plant design
This paper addresses the problem of the optimal design of batch plants with imprecise demands in product amounts. The design of such plants necessary involves how equipment may be utilized, which means that plant scheduling and production must constitute a basic part of the design problem. Rather than resorting to a traditional probabilistic approach for modeling the imprecision on product demands, this work proposes an alternative treatment by using fuzzy concepts. The design problem is tackled by introducing a new approach based on a multiobjective genetic algorithm, combined wit the fuzzy set theory for computing the objectives as fuzzy quantities. The problem takes into account simultaneous maximization of the fuzzy net present value and of two other performance criteria, i.e. the production delay/advance and a flexibility index. The delay/advance objective is computed by comparing the fuzzy production time for the products to a given fuzzy time horizon, and the flexibility index represents the additional fuzzy production that the plant would be able to produce. The multiobjective optimization provides the Pareto's front which is a set of scenarios that are helpful for guiding the decision's maker in its final choices. About the solution procedure, a genetic algorithm was implemented since it is particularly well-suited to take into account the arithmetic of fuzzy numbers. Furthermore because a genetic algorithm is working on populations of potential solutions, this type of procedure is well adapted for multiobjective optimization
Decision Making in the Medical Domain: Comparing the Effectiveness of GP-Generated Fuzzy Intelligent Structures
ABSTRACT: In this work, we examine the effectiveness of two intelligent models in medical domains. Namely, we apply grammar-guided genetic programming to produce fuzzy intelligent structures, such as fuzzy rule-based systems and fuzzy Petri nets, in medical data mining tasks. First, we use two context-free grammars to describe fuzzy rule-based systems and fuzzy Petri nets with genetic programming. Then, we apply cellular encoding in order to express the fuzzy Petri nets with arbitrary size and topology. The models are examined thoroughly in four real-world medical data sets. Results are presented in detail and the competitive advantages and drawbacks of the selected methodologies are discussed, in respect to the nature of each application domain. Conclusions are drawn on the effectiveness and efficiency of the presented approach
The energy scheduling problem: Industrial case-study and constraint propagation techniques
This paper deals with production scheduling involving energy constraints, typically electrical energy.
We start by an industrial case-study for which we propose a two-step integer/constraint programming method. From the industrial problem we derive a generic problem,the Energy Scheduling Problem (EnSP). We propose an extension of specific resource constraint propagation techniques to efficiently prune the search space for EnSP solving. We also present a branching scheme to solve the problem via
tree search.Finally,computational results are provided
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