Explicit Building Block Multiobjective Evolutionary Computation: Methods and Applications

This dissertation presents principles, techniques, and performance of evolutionary computation optimization methods. Concentration is on concepts, design formulation, and prescription for multiobjective problem solving and explicit building block (BB) multiobjective evolutionary algorithms (MOEAs). Current state-of-the-art explicit BB MOEAs are addressed in the innovative design, execution, and testing of a new multiobjective explicit BB MOEA. Evolutionary computation concepts examined are algorithm convergence, population diversity and sizing, genotype and phenotype partitioning, archiving, BB concepts, parallel evolutionary algorithm (EA) models, robustness, visualization of evolutionary process, and performance in terms of effectiveness and efficiency. The main result of this research is the development of a more robust algorithm where MOEA concepts are implicitly employed. Testing shows that the new MOEA can be more effective and efficient than previous state-of-the-art explicit BB MOEAs for selected test suite multiobjective optimization problems (MOPs) and U.S. Air Force applications. Other contributions include the extension of explicit BB definitions to clarify the meanings for good single and multiobjective BBs. A new visualization technique is developed for viewing genotype, phenotype, and the evolutionary process in finding Pareto front vectors while tracking the size of the BBs. The visualization technique is the result of a BB tracing mechanism integrated into the new MOEA that enables one to determine the required BB sizes and assign an approximation epistasis level for solving a particular problem. The culmination of this research is explicit BB state-of-the-art MOEA technology based on the MOEA design, BB classifier type assessment, solution evolution visualization, and insight into MOEA test metric validation and usage as applied to test suite, deception, bioinformatics, unmanned vehicle flight pattern, and digital symbol set design MOPs

Optimization of Heterogeneous UAV Communications Using the Multiobjective Quadratic Assignment Problem

The Air Force has placed a high priority on developing new and innovative ways to use Unmanned Aerial Vehicles (UAVs). The Defense Advanced Research Projects Agency (DARPA) currently funds many projects that deal with the advancement of UAV research. The ultimate goal of the Air Force is to use UAVs in operations that are highly dangerous to pilots, mainly the suppression of enemy air defenses (SEAD). With this goal in mind, formation structuring of autonomous or semi-autonomous UAVs is of future importance. This particular research investigates the optimization of heterogeneous UAV multi-channel communications in formation. The problem maps to the multiobjective Quadratic Assignment Problem (mQAP). Optimization of this problem is done through the use of a Multiobjective Evolutionary Algorithm (MOEA) called the Multiobjective Messy Genetic Algorithm - II (MOMGA-II). Experimentation validates the attainment of an acceptable Pareto Front for a variety of mQAP benchmarks. It was observed that building block size can affect the location vectors along the current Pareto Front. The competitive templates used during testing perform best when they are randomized before each building block size evaluation. This tuning of the MOMGA-II parameters creates a more effective algorithm for the variety of mQAP benchmarks, when compared to the initial experiments. Thus this algorithmic approach would be useful for Air Force decision makers in determining the placement of UAVs in formations

Evolutionary Computation 2020

Intelligent optimization is based on the mechanism of computational intelligence to refine a suitable feature model, design an effective optimization algorithm, and then to obtain an optimal or satisfactory solution to a complex problem. Intelligent algorithms are key tools to ensure global optimization quality, fast optimization efficiency and robust optimization performance. Intelligent optimization algorithms have been studied by many researchers, leading to improvements in the performance of algorithms such as the evolutionary algorithm, whale optimization algorithm, differential evolution algorithm, and particle swarm optimization. Studies in this arena have also resulted in breakthroughs in solving complex problems including the green shop scheduling problem, the severe nonlinear problem in one-dimensional geodesic electromagnetic inversion, error and bug finding problem in software, the 0-1 backpack problem, traveler problem, and logistics distribution center siting problem. The editors are confident that this book can open a new avenue for further improvement and discoveries in the area of intelligent algorithms. The book is a valuable resource for researchers interested in understanding the principles and design of intelligent algorithms

Quality Diversity: Harnessing Evolution to Generate a Diversity of High-Performing Solutions

Evolution in nature has designed countless solutions to innumerable interconnected problems, giving birth to the impressive array of complex modern life observed today. Inspired by this success, the practice of evolutionary computation (EC) abstracts evolution artificially as a search operator to find solutions to problems of interest primarily through the adaptive mechanism of survival of the fittest, where stronger candidates are pursued at the expense of weaker ones until a solution of satisfying quality emerges. At the same time, research in open-ended evolution (OEE) draws different lessons from nature, seeking to identify and recreate processes that lead to the type of perpetual innovation and indefinitely increasing complexity observed in natural evolution. New algorithms in EC such as MAP-Elites and Novelty Search with Local Competition harness the toolkit of evolution for a related purpose: finding as many types of good solutions as possible (rather than merely the single best solution). With the field in its infancy, no empirical studies previously existed comparing these so-called quality diversity (QD) algorithms. This dissertation (1) contains the first extensive and methodical effort to compare different approaches to QD (including both existing published approaches as well as some new methods presented for the first time here) and to understand how they operate to help inform better approaches in the future. It also (2) introduces a new technique for encoding neural networks for evolution with indirect encoding that contain multiple sensory or output modalities. Further, it (3) explores the idea that QD can act as an engine of open-ended discovery by introducing an expressive platform called Voxelbuild where QD algorithms continually evolve robots that stack blocks in new ways. A culminating experiment (4) is presented that investigates evolution in Voxelbuild over a very long timescale. This research thus stands to advance the OEE community\u27s desire to create and understand open-ended systems while also laying the groundwork for QD to realize its potential within EC as a means to automatically generate an endless progression of new content in real-world applications

MATLAB

A well-known statement says that the PID controller is the "bread and butter" of the control engineer. This is indeed true, from a scientific standpoint. However, nowadays, in the era of computer science, when the paper and pencil have been replaced by the keyboard and the display of computers, one may equally say that MATLAB is the "bread" in the above statement. MATLAB has became a de facto tool for the modern system engineer. This book is written for both engineering students, as well as for practicing engineers. The wide range of applications in which MATLAB is the working framework, shows that it is a powerful, comprehensive and easy-to-use environment for performing technical computations. The book includes various excellent applications in which MATLAB is employed: from pure algebraic computations to data acquisition in real-life experiments, from control strategies to image processing algorithms, from graphical user interface design for educational purposes to Simulink embedded systems

Control system design using evolutionary algorithms for autonomous shipboard recovery of unmanned aerial vehicles

The capability of autonomous operation of ship-based Unmanned Aerial Vehicles (UAVs) in extreme sea conditions would greatly extend the usefulness of these aircraft for both military and civilian maritime purposes. Maritime operations are often associated with Vertical Take-Off and Landing (VTOL) procedures, even though the advantages of conventional fixed-wing aircraft over VTOL aircraft in terms of flight speed, range and endurance are well known. In this work, current methods of shipboard recovery are analysed and the problems associated with recovery in adverse weather conditions are identified. Based on this analysis, a novel recovery method is proposed. This method, named Cable Hook Recovery, is intended to recover small to medium-size fixed-wing UAVs on frigate-size vessels. It is expected to have greater operational capabilities than the Recovery Net technique, which is currently the most widely employed method of recovery for similar class of UAVs, potentially providing safe recovery even in very rough sea and allowing the choice of approach directions. The recovery method is supported by the development of a UAV controller that realises the most demanding stage of recovery, the final approach. The controller provides both flight control and guidance strategy that allow fully autonomous recovery of a fixed-wing UAV. The development process involves extensive use of specially tailored Evolutionary Algorithms and represents the major contribution of this work. The Evolutionary Design algorithm developed in this work combines the power of Evolutionary Strategies and Genetic Programming, enabling automatic evolution of both the structure and parameters of the controller. The controller is evolved using a fully coupled nonlinear six-degree-of-freedom UAV model, making linearisation and trimming of the model unnecessary. The developed algorithm is applied to both flight control and guidance problems with several variations, from optimisation of a routine PID controller to automatic control laws synthesis where no a priori data available. It is demonstrated that Evolutionary Design is capable of not only optimising, but also solving automatically the real-world problems, producing human-competitive solutions. The designed UAV controller has been tested comprehensively for both performance and robustness in a nonlinear simulation environment and has been found to allow the aircraft to be recovered in the presence of both large external disturbances and uncertainty in the simulation models

Behavior Trees in Robotics and AI: An Introduction

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular and reactive. These properties are crucial in many applications, which has led to the spread of BT from computer game programming to many branches of AI and Robotics. In this book, we will first give an introduction to BTs, then we describe how BTs relate to, and in many cases generalize, earlier switching structures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. Properties such as safety, robustness, and efficiency are important for an autonomous system, and we describe a set of tools for formally analyzing these using a state space description of BTs. With the new analysis tools, we can formalize the descriptions of how BTs generalize earlier approaches. We also show the use of BTs in automated planning and machine learning. Finally, we describe an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion

Microgrids/Nanogrids Implementation, Planning, and Operation

Today’s power system is facing the challenges of increasing global demand for electricity, high-reliability requirements, the need for clean energy and environmental protection, and planning restrictions. To move towards a green and smart electric power system, centralized generation facilities are being transformed into smaller and more distributed ones. As a result, the microgrid concept is emerging, where a microgrid can operate as a single controllable system and can be viewed as a group of distributed energy loads and resources, which can include many renewable energy sources and energy storage systems. The energy management of a large number of distributed energy resources is required for the reliable operation of the microgrid. Microgrids and nanogrids can allow for better integration of distributed energy storage capacity and renewable energy sources into the power grid, therefore increasing its efficiency and resilience to natural and technical disruptive events. Microgrid networking with optimal energy management will lead to a sort of smart grid with numerous benefits such as reduced cost and enhanced reliability and resiliency. They include small-scale renewable energy harvesters and fixed energy storage units typically installed in commercial and residential buildings. In this challenging context, the objective of this book is to address and disseminate state-of-the-art research and development results on the implementation, planning, and operation of microgrids/nanogrids, where energy management is one of the core issues

Intrinsic Motivation in Computational Creativity Applied to Videogames

PhD thesisComputational creativity (CC) seeks to endow artificial systems with creativity. Although human creativity is known to be substantially driven by intrinsic motivation (IM), most CC systems are extrinsically motivated. This restricts their actual and perceived creativity and autonomy, and consequently their benefit to people. In this thesis, we demonstrate, via theoretical arguments and through applications in videogame AI, that computational intrinsic reward and models of IM can advance core CC goals. We introduce a definition of IM to contextualise related work. Via two systematic reviews, we develop typologies of the benefits and applications of intrinsic reward and IM models in CC and game AI. Our reviews highlight that related work is limited to few reward types and motivations, and we thus investigate the usage of empowerment, a little studied, information-theoretic intrinsic reward, in two novel models applied to game AI. We define coupled empowerment maximisation (CEM), a social IM model, to enable general co-creative agents that support or challenge their partner through emergent behaviours. Via two qualitative, observational vignette studies on a custom-made videogame, we explore CEM’s ability to drive general and believable companion and adversary non-player characters which respond creatively to changes in their abilities and the game world. We moreover propose to leverage intrinsic reward to estimate people’s experience of interactive artefacts in an autonomous fashion. We instantiate this proposal in empowerment-based player experience prediction (EBPXP) and apply it to videogame procedural content generation. By analysing think-aloud data from an experiential vignette study on a dedicated game, we identify several experiences that EBPXP could predict. Our typologies serve as inspiration and reference for CC and game AI researchers to harness the benefits of IM in their work. Our new models can increase the generality, autonomy and creativity of next-generation videogame AI, and of CC systems in other domains