615 research outputs found

    Coevolution Based Adaptive Monte Carlo Localization

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    Cooperative Global Localization in Multi-Robot System

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    Data Stream Mining: an Evolutionary Approach

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    Este trabajo presenta un algoritmo para agrupar flujos de datos, llamado ESCALIER. Este algoritmo es una extensión del algoritmo de agrupamiento evolutivo ECSAGO Evolutionary Clustering with Self Adaptive Genetic Operators. ESCALIER toma el proceso evolutivo propuesto por ECSAGO para encontrar grupos en los flujos de datos, los cuales son definidos por la técnica Sliding Window. Para el mantenimiento y olvido de los grupos detectados a través de la evolución de los datos, ESCALIER incluye un mecanismo de memoria inspirado en la teoría de redes inmunológicas artificiales. Para probar la efectividad del algoritmo, se realizaron experimentos utilizando datos sintéticos simulando un ambiente de flujos de datos, y un conjunto de datos reales.Abstract. This work presents a data stream clustering algorithm called ESCALIER. This algorithm is an extension of the evolutionary clustering ECSAGO - Evolutionary Clustering with Self Adaptive Genetic Operators. ESCALIER takes the advantage of the evolutionary process proposed by ECSAGO to find the clusters in the data streams. They are defined by sliding window technique. To maintain and forget clusters through the evolution of the data, ESCALIER includes a memory mechanism inspired by the artificial immune network theory. To test the performance of the algorithm, experiments using synthetic data, simulating the data stream environment, and a real dataset are carried out.Maestrí

    Kartezio: Evolutionary Design of Explainable Pipelines for Biomedical Image Analysis

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    An unresolved issue in contemporary biomedicine is the overwhelming number and diversity of complex images that require annotation, analysis and interpretation. Recent advances in Deep Learning have revolutionized the field of computer vision, creating algorithms that compete with human experts in image segmentation tasks. Crucially however, these frameworks require large human-annotated datasets for training and the resulting models are difficult to interpret. In this study, we introduce Kartezio, a modular Cartesian Genetic Programming based computational strategy that generates transparent and easily interpretable image processing pipelines by iteratively assembling and parameterizing computer vision functions. The pipelines thus generated exhibit comparable precision to state-of-the-art Deep Learning approaches on instance segmentation tasks, while requiring drastically smaller training datasets, a feature which confers tremendous flexibility, speed, and functionality to this approach. We also deployed Kartezio to solve semantic and instance segmentation problems in four real-world Use Cases, and showcase its utility in imaging contexts ranging from high-resolution microscopy to clinical pathology. By successfully implementing Kartezio on a portfolio of images ranging from subcellular structures to tumoral tissue, we demonstrated the flexibility, robustness and practical utility of this fully explicable evolutionary designer for semantic and instance segmentation.Comment: 36 pages, 6 main Figures. The Extended Data Movie is available at the following link: https://www.youtube.com/watch?v=r74gdzb6hdA. The source code is available on Github: https://github.com/KevinCortacero/Kartezi

    Recognizing Teamwork Activity In Observations Of Embodied Agents

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    This thesis presents contributions to the theory and practice of team activity recognition. A particular focus of our work was to improve our ability to collect and label representative samples, thus making the team activity recognition more efficient. A second focus of our work is improving the robustness of the recognition process in the presence of noisy and distorted data. The main contributions of this thesis are as follows: We developed a software tool, the Teamwork Scenario Editor (TSE), for the acquisition, segmentation and labeling of teamwork data. Using the TSE we acquired a corpus of labeled team actions both from synthetic and real world sources. We developed an approach through which representations of idealized team actions can be acquired in form of Hidden Markov Models which are trained using a small set of representative examples segmented and labeled with the TSE. We developed set of team-oriented feature functions, which extract discrete features from the high-dimensional continuous data. The features were chosen such that they mimic the features used by humans when recognizing teamwork actions. We developed a technique to recognize the likely roles played by agents in teams even before the team action was recognized. Through experimental studies we show that the feature functions and role recognition module significantly increase the recognition accuracy, while allowing arbitrary shuffled inputs and noisy data

    Advances in Evolutionary Algorithms

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    With the recent trends towards massive data sets and significant computational power, combined with evolutionary algorithmic advances evolutionary computation is becoming much more relevant to practice. Aim of the book is to present recent improvements, innovative ideas and concepts in a part of a huge EA field

    Community Detection in Complex Networks

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    Finding communities of connected individuals in social networks is essential for understanding our society and interactions within the network. Recently attention has turned to analyse these communities in complex network systems. In this thesis, we study three challenges. Firstly, analysing and evaluating the robustness of new and existing score functions as these functions are used to assess the community structure for a given network. Secondly, unfolding community structures in static social networks. Finally, detecting the dynamics of communities that change over time. The score functions are evaluated on different community structures. The behaviour of these functions is studied by migrating nodes randomly from their community to a random community in a given true partition until all nodes will be migrated far from their communities. Then Multi-Objective Evolutionary Algorithm Based Community Detection in Social Networks (MOEA-CD) is used to capture the intuition of community identi cation with dense connections within the community and sparse with others. This algorithm redirects the design of objective functions according to the nodes' relations within community and with other communities. This new model includes two new contradictory objectives, the rst is to maximise the internal neighbours for each node within a community and the second is to minimise the maximum external links for each node within a community with respect to its internal neighbours. Both of these objectives are optimised simultaneously to nd a set of estimated Pareto-optimal solutions where each solution corresponds to a network partition. Moreover, we propose a new local heuristic search, namely, the Neighbour Node Centrality (NNC) strategy which is combined with the proposed model to improve the performance of MOEA-CD to nd a local optimal solution. We also design an algorithm which produces community structures that evolve over time. Recognising that there may be many possible community structures that ex- plain the observed social network at each time step, in contrast to existing methods, which generally treat this as a coupled optimisation problem, we formulate the prob- lem in a Hidden Markov Model framework, which allows the most likely sequence of communities to be found using the Viterbi algorithm where there are many candi- date community structures which are generated using Multi-Objective Evolutionary Algorithm. To demonstrate that our study is effective, it is evaluated on synthetic and real-life dynamic networks and it is used to discover the changing Twitter communities of MPs preceding the Brexit referendum

    Community Detection in Complex Networks

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    Finding communities of connected individuals in social networks is essential for understanding our society and interactions within the network. Recently attention has turned to analyse these communities in complex network systems. In this thesis, we study three challenges. Firstly, analysing and evaluating the robustness of new and existing score functions as these functions are used to assess the community structure for a given network. Secondly, unfolding community structures in static social networks. Finally, detecting the dynamics of communities that change over time. The score functions are evaluated on different community structures. The behaviour of these functions is studied by migrating nodes randomly from their community to a random community in a given true partition until all nodes will be migrated far from their communities. Then Multi-Objective Evolutionary Algorithm Based Community Detection in Social Networks (MOEA-CD) is used to capture the intuition of community identi cation with dense connections within the community and sparse with others. This algorithm redirects the design of objective functions according to the nodes' relations within community and with other communities. This new model includes two new contradictory objectives, the rst is to maximise the internal neighbours for each node within a community and the second is to minimise the maximum external links for each node within a community with respect to its internal neighbours. Both of these objectives are optimised simultaneously to nd a set of estimated Pareto-optimal solutions where each solution corresponds to a network partition. Moreover, we propose a new local heuristic search, namely, the Neighbour Node Centrality (NNC) strategy which is combined with the proposed model to improve the performance of MOEA-CD to nd a local optimal solution. We also design an algorithm which produces community structures that evolve over time. Recognising that there may be many possible community structures that ex- plain the observed social network at each time step, in contrast to existing methods, which generally treat this as a coupled optimisation problem, we formulate the prob- lem in a Hidden Markov Model framework, which allows the most likely sequence of communities to be found using the Viterbi algorithm where there are many candi- date community structures which are generated using Multi-Objective Evolutionary Algorithm. To demonstrate that our study is effective, it is evaluated on synthetic and real-life dynamic networks and it is used to discover the changing Twitter communities of MPs preceding the Brexit referendum
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