A Closer Look at Adaptation Mechanisms in Simulated Environment-Driven Evolutionary Swarm Robotics

This thesis investigates several aspects of environment-driven adaptation in simulated evolutionary swarm robotics. It is centred around a specific algorithm for distributed embodied evolution called mEDEA.Firstly, mEDEA is extended with an explicit relative fitness measure while still maintaining the distributed nature of the algorithm. Two ways of using the relative fitness are investigated: influencing the spreading of genomes and performing an explicit genome selection. Both methods lead to an improvement in the swarm’s ability to maintain energy over longer periods.Secondly, a communication energy model is derived and introduced into the simulator to investigate the influence of accounting for the costs of communication in the distributed evolutionary algorithm where communication is a key component.Thirdly, a method is introduced that relates environmental conditions to a measure of the swarm’s behaviour in a 3-dimensional map to study the environment’s influence on the emergence of behaviours at the individual and swarm level. Interesting regions for further experimentation are identified in which algorithm specific characteristics show effect and can be explored.Finally, a novel individual learning method is developed and used to investigate how the most effective balance between evolutionary and lifetime-adaptation mechanisms is influenced by aspects of the environment a swarm operates in. The results show a clear link between the effectiveness of different adaptation mechanisms and environmental conditions, specifically the rate of change and the availability of learning opportunities

An Investigation of Environmental Influence on the Benefits of Adaptation Mechanisms in Evolutionary Swarm Robotics

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the effectiveness of each type of learning is not well understood. In this paper, we address this question by analysing the performance of a swarm in a range of simulated, dynamic environments where a distributed evolutionary algorithm for evolving a controller is augmented with a number of different individual learning mechanisms. The learning mechanisms themselves are defined by parameters which can be either fixed or inherited. We conduct experiments in a range of dynamic environments whose characteristics are varied so as to present different opportunities for learning. Results enable us to map environmental characteristics to the most effective learning algorithm.Comment: In GECCO 201

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

An Analysis of Diversity in Genetic Programming

Genetic programming is a metaheuristic search method that uses a population of variable-length computer programs and a search strategy based on biological evolution. The idea of automatic programming has long been a goal of artificial intelligence, and genetic programming presents an intuitive method for automatically evolving programs. However, this method is not without some potential drawbacks. Search using procedural representations can be complex and inefficient. In addition, variable sized solutions can become unnecessarily large and difficult to interpret. The goal of this thesis is to understand the dynamics of genetic programming that encourages efficient and effective search. Toward this goal, the research focuses on an important property of genetic programming search: the population. The population is related to many key aspects of the genetic programming algorithm. In this programme of research, diversity is used to describe and analyse populations and their effect on search. A series of empirical investigations are carried out to better understand the genetic programming algorithm. The research begins by studying the relationship between diversity and search. The effect of increased population diversity and a metaphor of search are then examined. This is followed by an investigation into the phenomenon of increased solution size and problem difficulty. The research concludes by examining the role of diverse individuals, particularly the ability of diverse individuals to affect the search process and ways of improving the genetic programming algorithm. This thesis makes the following contributions: (1) An analysis shows the complexity of the issues of diversity and the relationship between diversity and fitness, (2) The genetic programming search process is characterised by using the concept of genetic lineages and the sampling of structures and behaviours, (3) A causal model of the varied rates of solution size increase is presented, (4) A new, tunable problem demonstrates the contribution of different population members during search, and (5) An island model is proposed to improve the search by speciating dissimilar individuals into better-suited environments. Currently, genetic programming is applied to a wide range of problems under many varied contexts. From artificial intelligence to operations research, the results presented in this thesis will benefit population-based search methods, methods based on the concepts of evolution and search methods using variable-length representations

Evolving hierarchical visually guided neural network agents to investigate complex interactions.

A complex system is a system with a large number of interacting components without any mechanism for central control that displays self organisation. Understanding how these interactions affect the overall behaviour of a system is of great interest to science. Indeed, researchers use a wide variety of models to investigate complex systems. The problem with most models is that they disregard the hierarchical nature of complex systems: they ignore the fact that components of real world systems tend to be complex systems as well. This prevents researchers from investigating the interactions taking place between the lower and the higher levels of the model which may be crucial in order to gain a full understanding of the examined phenomena and of complex systems in general. Therefore, this thesis introduces Mosaic World, a multi-agent model for the purpose of investigating interactions (focusing on 'complex' multilevel interactions) within a hierarchical complex system, in addition to other computational and biological hypotheses. Mosaic World comprises a population of evolving neural network agents that inhabit a changing visual environment. By analysing the interactions that occur within Mosaic World, this thesis demonstrates the importance of incorporating hierarchical complexity into a model, and contributes to our understanding of hierarchical complex systems by showing how selective pressures cause differentiation across levels. Additionally, the study of multilevel interactions is used to probe several hypotheses and provides the following contributions among others: Analysis of agent evolvability as affected by the usage of different types of structural mutations in the evolutionary process. Demonstration that agents controlled by modular neural networks are fitter than agents that are controlled by non-modular neural networks the improvement in fitness occurs through specialisation of modules. Empirical support for a biological theory suggesting that colour vision evolved as a method of dealing with ambiguous stimuli

Optimización metaheurística para la planificación de redes WDM

Las implementaciones actuales de las redes de telecomunicaciones no permiten soportar el incremento en la demanda de ancho de banda producido por el crecimiento del tráfico de datos en las últimas décadas. La aparición de la fibra óptica y el desarrollo de la tecnología de multiplexación por división de longitudes de onda (WDM) permite incrementar la capacidad de redes de telecomunicaciones existentes mientras se minimizan costes. En este trabajo se planifican redes ópticas WDM mediante la resolución de los problemas de Provisión y Conducción en redes WDM (Provisioning and Routing Problem) y de Supervivencia (Survivability Problem). El Problema de Conducción y Provisión consiste en incrementar a mínimo coste la capacidad de una red existente de tal forma que se satisfaga un conjunto de requerimientos de demanda. El problema de supervivencia consiste en garantizar el flujo del tráfico a través de una red en caso de fallo de alguno de los elementos de la misma. Además se resuelve el Problema de Provisión y Conducción en redes WDM con incertidumbre en las demandas. Para estos problemas se proponen modelos de programación lineal entera. Las metaheurísticas proporcionan un medio para resolver problemas de optimización complejos, como los que surgen al planificar redes de telecomunicaciones, obteniendo soluciones de alta calidad en un tiempo computacional razonable. Las metaheurísticas son estrategias que guían y modifican otras heurísticas para obtener soluciones más allá de las generadas usualmente en la búsqueda de optimalidad local. No garantizan que la mejor solución encontrada, cuando se satisfacen los criterios de parada, sea una solución óptima global del problema. Sin embargo, la experimentación de implementaciones metaheurísticas muestra que las estrategias de búsqueda embebidas en tales procedimientos son capaces de encontrar soluciones de alta calidad a problemas difíciles en industria, negocios y ciencia. Para la solución del problema de Provisión y Conducción en Redes WDM, se desarrolla un algoritmo metaheurístico híbrido que combina principalmente ideas de las metaheurísticas Búsqueda Dispersa (Scatter Search) y Búsqueda Mutiarranque (Multistart). Además añade una componente tabú en uno de los procedimiento del algoritmo. Se utiliza el modelo de programación lineal entera propuesto por otros autores y se propone un modelo de programación lineal entera alternativo que proporciona cotas superiores al problema, pero incluye un menor número de variables y restricciones, pudiendo ser resuelto de forma óptima para tamaños de red mayores. Los resultados obtenidos por el algoritmo metaheurístico diseñado se comparan con los obtenidos por un procedimiento basado en permutaciones de las demandas propuesto anteriormente por otros autores, y con los dos modelos de programación lineal entera usados. Se propone modelos de programación lineal entera para sobrevivir la red en caso de fallos en un único enlace. Se proponen modelos para los esquemas de protección de enlace compartido, de camino compartido con enlaces disjuntos, y de camino compartido sin enlaces disjuntos. Se propone un método de resolución metaheurístico que obtiene mejores costes globales que al resolver el problema en dos fases, es decir, al resolver el problema de servicio y a continuación el de supervivencia. Se proponen además modelos de programación entera para resolver el problema de provisión en redes WDM con incertidumbres en las demandas

Modelling and scheduling of heterogeneous computing systems

Ph.DDOCTOR OF PHILOSOPH

Resilience-driven planning and operation of networked microgrids featuring decentralisation and flexibility

High-impact and low-probability extreme events including both man-made events and natural weather events can cause severe damage to power systems. These events are typically rare but featured in long duration and large scale. Many research efforts have been conducted on the resilience enhancement of modern power systems. In recent years, microgrids (MGs) with distributed energy resources (DERs) including both conventional generation resources and renewable energy sources provide a viable solution for the resilience enhancement of such multi-energy systems during extreme events. More specifically, several islanded MGs after extreme events can be connected with each other as a cluster, which has the advantage of significantly reducing load shedding through energy sharing among them. On the other hand, mobile power sources (MPSs) such as mobile energy storage systems (MESSs), electric vehicles (EVs), and mobile emergency generators (MEGs) have been gradually deployed in current energy systems for resilience enhancement due to their significant advantages on mobility and flexibility. Given such a context, a literature review on resilience-driven planning and operation problems featuring MGs is presented in detail, while research limitations are summarised briefly. Then, this thesis investigates how to develop appropriate planning and operation models for the resilience enhancement of networked MGs via different types of DERs (e.g., MGs, ESSs, EVs, MESSs, etc.). This research is conducted in the following application scenarios: 1. This thesis proposes novel operation strategies for hybrid AC/DC MGs and networked MGs towards resilience enhancement. Three modelling approaches including centralised control, hierarchical control, and distributed control have been applied to formulate the proposed operation problems. A detailed non-linear AC OPF algorithm is employed to model each MG capturing all the network and technical constraints relating to stability properties (e.g., voltage limits, active and reactive power flow limits, and power losses), while uncertainties associated with renewable energy sources and load profiles are incorporated into the proposed models via stochastic programming. Impacts of limited generation resources, load distinction intro critical and non-critical, and severe contingencies (e.g., multiple line outages) are appropriately captured to mimic a realistic scenario. 2. This thesis introduces MPSs (e.g., EVs and MESSs) into the suggested networked MGs against the severe contingencies caused by extreme events. Specifically, time-coupled routing and scheduling characteristics of MPSs inside each MG are modelled to reduce load shedding when large damage is caused to each MG during extreme events. Both transportation networks and power networks are considered in the proposed models, while transporting time of MPSs between different transportation nodes is also appropriately captured. 3. This thesis focuses on developing realistic planning models for the optimal sizing problem of networked MGs capturing a trade-off between resilience and cost, while both internal uncertainties and external contingencies are considered in the suggested three-level planning model. Additionally, a resilience-driven planning model is developed to solve the coupled optimal sizing and pre-positioning problem of MESSs in the context of decentralised networked MGs. Internal uncertainties are captured in the model via stochastic programming, while external contingencies are included through the three-level structure. 4. This thesis investigates the application of artificial intelligence techniques to power system operations. Specifically, a model-free multi-agent reinforcement learning (MARL) approach is proposed for the coordinated routing and scheduling problem of multiple MESSs towards resilience enhancement. The parameterized double deep Q-network method (P-DDQN) is employed to capture a hybrid policy including both discrete and continuous actions. A coupled power-transportation network featuring a linearised AC OPF algorithm is realised as the environment, while uncertainties associated with renewable energy sources, load profiles, line outages, and traffic volumes are incorporated into the proposed data-driven approach through the learning procedure.Open Acces