An enhanced classifier system for autonomous robot navigation in dynamic environments

In many cases, a real robot application requires the navigation in dynamic environments. The navigation problem involves two main tasks: to avoid obstacles and to reach a goal. Generally, this problem could be faced considering reactions and sequences of actions. For solving the navigation problem a complete controller, including actions and reactions, is needed. Machine learning techniques has been applied to learn these controllers. Classifier Systems (CS) have proven their ability of continuos learning in these domains. However, CS have some problems in reactive systems. In this paper, a modified CS is proposed to overcome these problems. Two special mechanisms are included in the developed CS to allow the learning of both reactions and sequences of actions. The learning process has been divided in two main tasks: first, the discrimination between a predefined set of rules and second, the discovery of new rules to obtain a successful operation in dynamic environments. Different experiments have been carried out using a mini-robot Khepera to find a generalised solution. The results show the ability of the system to continuous learning and adaptation to new situations.Publicad

Learning sequences of rules using classifier systems with tags

IEEE International Conference on Systems, Man, and Cybernetics. Tokyo, 12-15 October 1999.The objective of this paper was to obtain an encoding structure that would allow the genetic evolution of rules in such a manner that the number of rules and relationship in a classifier system (CS) would be learnt in the evolution process. For this purpose, an area that allows the definition of rule groups has been entered into the condition and message part of the encoded rules. This area is called internal tag. This term was coined because the system has some similarities with natural processes that take place in certain animal species, where the existence of tags allows them to communicate and recognize each other. Such CS is called a tag classifier system (TCS). The TCS has been tested in the game of draughts and compared with the classical CS. The results show an improving of the CS performance

A Comparative Analysis of Ensemble Classifiers: Case Studies in Genomics

The combination of multiple classifiers using ensemble methods is increasingly important for making progress in a variety of difficult prediction problems. We present a comparative analysis of several ensemble methods through two case studies in genomics, namely the prediction of genetic interactions and protein functions, to demonstrate their efficacy on real-world datasets and draw useful conclusions about their behavior. These methods include simple aggregation, meta-learning, cluster-based meta-learning, and ensemble selection using heterogeneous classifiers trained on resampled data to improve the diversity of their predictions. We present a detailed analysis of these methods across 4 genomics datasets and find the best of these methods offer statistically significant improvements over the state of the art in their respective domains. In addition, we establish a novel connection between ensemble selection and meta-learning, demonstrating how both of these disparate methods establish a balance between ensemble diversity and performance.Comment: 10 pages, 3 figures, 8 tables, to appear in Proceedings of the 2013 International Conference on Data Minin

An incremental approach to genetic algorithms based classification

Incremental learning has been widely addressed in the machine learning literature to cope with learning tasks where the learning environment is ever changing or training samples become available over time. However, most research work explores incremental learning with statistical algorithms or neural networks, rather than evolutionary algorithms. The work in this paper employs genetic algorithms (GAs) as basic learning algorithms for incremental learning within one or more classifier agents in a multi-agent environment. Four new approaches with different initialization schemes are proposed. They keep the old solutions and use an “integration” operation to integrate them with new elements to accommodate new attributes, while biased mutation and crossover operations are adopted to further evolve a reinforced solution. The simulation results on benchmark classification data sets show that the proposed approaches can deal with the arrival of new input attributes and integrate them with the original input space. It is also shown that the proposed approaches can be successfully used for incremental learning and improve classification rates as compared to the retraining GA. Possible applications for continuous incremental training and feature selection are also discussed