Fuzzy-Genetic Control of Quadrotors Unmanned Aerial Vehicles

This article presents a novel fuzzy identification method for dynamic modelling of quadrotor unmanned aerial vehicles. The method is based on a special parameterization of the antecedent part of fuzzy systems that results in fuzzy-partitions for antecedents. This antecedent parameter representation method of fuzzy rules ensures upholding of predefined linguistic value ordering and ensures that fuzzy-partitions remain intact throughout an unconstrained hybrid evolutionary and gradient descent based optimization process. In the equations of motion the first order derivative component is calculated based on Christoffel symbols, the derivatives of fuzzy systems are used for modelling the Coriolis effects, gyroscopic and centrifugal terms. The non-linear parameters are subjected to an initial global evolutionary optimization scheme and fine tuning with gradient descent based local search. Simulation results of the proposed new quadrotor dynamic model identification method are promising

Multi crteria decision making and its applications : a literature review

This paper presents current techniques used in Multi Criteria Decision Making (MCDM) and their applications. Two basic approaches for MCDM, namely Artificial Intelligence MCDM (AIMCDM) and Classical MCDM (CMCDM) are discussed and investigated. Recent articles from international journals related to MCDM are collected and analyzed to find which approach is more common than the other in MCDM. Also, which area these techniques are applied to. Those articles are appearing in journals for the year 2008 only. This paper provides evidence that currently, both AIMCDM and CMCDM are equally common in MCDM

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Dynamic path planning of multiple mobile robots

Ph.DDOCTOR OF PHILOSOPH

Multiobjective Evolutionary Optimization of Type-2 Fuzzy Rule-Based Systems for Financial Data Classification

Classification techniques are becoming essential in the financial world for reducing risks and possible disasters. Managers are interested in not only high accuracy, but in interpretability and transparency as well. It is widely accepted now that the comprehension of how inputs and outputs are related to each other is crucial for taking operative and strategic decisions. Furthermore, inputs are often affected by contextual factors and characterized by a high level of uncertainty. In addition, financial data are usually highly skewed toward the majority class. With the aim of achieving high accuracies, preserving the interpretability, and managing uncertain and unbalanced data, this paper presents a novel method to deal with financial data classification by adopting type-2 fuzzy rule-based classifiers (FRBCs) generated from data by a multiobjective evolutionary algorithm (MOEA). The classifiers employ an approach, denoted as scaled dominance, for defining rule weights in such a way to help minority classes to be correctly classified. In particular, we have extended PAES-RCS, an MOEA-based approach to learn concurrently the rule and data bases of FRBCs, for managing both interval type-2 fuzzy sets and unbalanced datasets. To the best of our knowledge, this is the first work that generates type-2 FRBCs by concurrently maximizing accuracy and minimizing the number of rules and the rule length with the objective of producing interpretable models of real-world skewed and incomplete financial datasets. The rule bases are generated by exploiting a rule and condition selection (RCS) approach, which selects a reduced number of rules from a heuristically generated rule base and a reduced number of conditions for each selected rule during the evolutionary process. The weight associated with each rule is scaled by the scaled dominance approach on the fuzzy frequency of the output class, in order to give a higher weight to the minority class. As regards the data base learning, the membership function parameters of the interval type-2 fuzzy sets used in the rules are learned concurrently to the application of RCS. Unbalanced datasets are managed by using, in addition to complexity, selectivity and specificity as objectives of the MOEA rather than only the classification rate. We tested our approach, named IT2-PAES-RCS, on 11 financial datasets and compared our results with the ones obtained by the original PAES-RCS with three objectives and with and without scaled dominance, the FRBCs, fuzzy association rule-based classification model for high-dimensional dataset (FARC-HD) and fuzzy unordered rules induction algorithm (FURIA), the classical C4.5 decision tree algorithm, and its cost-sensitive version. Using nonparametric statistical tests, we will show that IT2-PAES-RCS generates FRBCs with, on average, accuracy statistically comparable with and complexity lower than the ones generated by the two versions of the original PAES-RCS. Further, the FRBCs generated by FARC-HD and FURIA and the decision trees computed by C4.5 and its cost-sensitive version, despite the highest complexity, result to be less accurate than the FRBCs generated by IT2-PAES-RCS. Finally, we will highlight how these FRBCs are easily interpretable by showing and discussing one of them

Hybrid approaches for mobile robot navigation

The work described in this thesis contributes to the efficient solution of mobile robot navigation problems. A series of new evolutionary approaches is presented. Two novel evolutionary planners have been developed that reduce the computational overhead in generating plans of mobile robot movements. In comparison with the best-performing evolutionary scheme reported in the literature, the first of the planners significantly reduces the plan calculation time in static environments. The second planner was able to generate avoidance strategies in response to unexpected events arising from the presence of moving obstacles. To overcome limitations in responsiveness and the unrealistic assumptions regarding a priori knowledge that are inherent in planner-based and a vigation systems, subsequent work concentrated on hybrid approaches. These included a reactive component to identify rapidly and autonomously environmental features that were represented by a small number of critical waypoints. Not only is memory usage dramatically reduced by such a simplified representation, but also the calculation time to determine new plans is significantly reduced. Further significant enhancements of this work were firstly, dynamic avoidance to limit the likelihood of potential collisions with moving obstacles and secondly, exploration to identify statistically the dynamic characteristics of the environment. Finally, by retaining more extensive environmental knowledge gained during previous navigation activities, the capability of the hybrid navigation system was enhanced to allow planning to be performed for any start point and goal point