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

Contributions to comprehensible classification

xxx, 240 p.La tesis doctoral descrita en esta memoria ha contribuido a la mejora de dos tipos de algoritmos declasificación comprensibles: algoritmos de \'arboles de decisión consolidados y algoritmos de inducciónde reglas tipo PART.En cuanto a las contribuciones a la consolidación de algoritmos de árboles de decisión, se hapropuesto una nueva estrategia de remuestreo que ajusta el número de submuestras para permitir cambiarla distribución de clases en las submuestras sin perder información. Utilizando esta estrategia, la versiónconsolidada de C4.5 (CTC) obtiene mejores resultados que un amplio conjunto de algoritmoscomprensibles basados en algoritmos genéticos y clásicos. Tres nuevos algoritmos han sido consolidados:una variante de CHAID (CHAID*) y las versiones Probability Estimation Tree de C4.5 y CHAID* (C4.4y CHAIC). Todos los algoritmos consolidados obtienen mejores resultados que sus algoritmos de\'arboles de decisión base, con tres algoritmos consolidados clasificándose entre los cuatro mejores en unacomparativa. Finalmente, se ha analizado el efecto de la poda en algoritmos simples y consolidados de\'arboles de decisión, y se ha concluido que la estrategia de poda propuesta en esta tesis es la que obtiene mejores resultados.En cuanto a las contribuciones a algoritmos tipo PART de inducción de reglas, una primerapropuesta cambia varios aspectos de como PART genera \'arboles parciales y extrae reglas de estos, locual resulta en clasificadores con mejor capacidad de generalizar y menor complejidad estructuralcomparando con los generados por PART. Una segunda propuesta utiliza \'arboles completamentedesarrollados, en vez de parcialmente desarrollados, y genera conjuntos de reglas que obtienen aúnmejores resultados de clasificación y una complejidad estructural menor. Estas dos nuevas propuestas y elalgoritmo PART original han sido complementadas con variantes basadas en CHAID* para observar siestos beneficios pueden ser trasladados a otros algoritmos de \'arboles de decisión y se ha observado, dehecho, que los algoritmos tipo PART basados en CHAID* también crean clasificadores más simples ycon mejor capacidad de clasificar que CHAID

Natural encoding for evolutionary supervised learning

Abstract—Some of the most influential factors in the quality of the solutions found by an evolutionary algorithm (EA) are a correct coding of the search space and an appropriate evaluation function of the potential solutions. EAs are often used to learn decision rules from datasets, which are encoded as individuals in the genetic population. In this paper, the coding of the search space for the obtaining of those decision rules is approached, i.e., the representation of the individuals of the genetic population and also the design of specific genetic operators. Our approach, called “natural coding, ” uses one gene per feature in the dataset (continuous or discrete). The examples from the datasets are also encoded into the search space, where the genetic population evolves, and therefore the evaluation process is improved substantially. Genetic operators for the natural coding are formally defined as algebraic expressions. Experiments with several datasets from the University of California at Irvine (UCI) machine learning repository show that as the genetic operators are better guided through the search space, the number of rules decreases considerably while maintaining the accuracy, similar to that of hybrid coding, which joins the well-known binary and real representations to encode discrete and continuous attributes, respectively. The computational cost associated with the natural coding is also reduced with regard to the hybrid representation. Our algorithm, HIDER*, has been statistically tested against C4.5 and C4.5 Rules, and performed well. The knowledge models obtained are simpler, with very few decision rules, and therefore easier to understand, which is an advantage in many domains. The experiments with high-dimensional datasets showed the same good behavior, maintaining the quality of the knowledge model with respect to prediction accuracy. Index Terms—Decision rules, evolutionary encoding, supervised learning. I