Evolving a Behavioral Repertoire for a Walking Robot

Numerous algorithms have been proposed to allow legged robots to learn to walk. However, the vast majority of these algorithms is devised to learn to walk in a straight line, which is not sufficient to accomplish any real-world mission. Here we introduce the Transferability-based Behavioral Repertoire Evolution algorithm (TBR-Evolution), a novel evolutionary algorithm that simultaneously discovers several hundreds of simple walking controllers, one for each possible direction. By taking advantage of solutions that are usually discarded by evolutionary processes, TBR-Evolution is substantially faster than independently evolving each controller. Our technique relies on two methods: (1) novelty search with local competition, which searches for both high-performing and diverse solutions, and (2) the transferability approach, which com-bines simulations and real tests to evolve controllers for a physical robot. We evaluate this new technique on a hexapod robot. Results show that with only a few dozen short experiments performed on the robot, the algorithm learns a repertoire of con-trollers that allows the robot to reach every point in its reachable space. Overall, TBR-Evolution opens a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot.Comment: 33 pages; Evolutionary Computation Journal 201

Discovering Evolutionary Stepping Stones through Behavior Domination

Behavior domination is proposed as a tool for understanding and harnessing the power of evolutionary systems to discover and exploit useful stepping stones. Novelty search has shown promise in overcoming deception by collecting diverse stepping stones, and several algorithms have been proposed that combine novelty with a more traditional fitness measure to refocus search and help novelty search scale to more complex domains. However, combinations of novelty and fitness do not necessarily preserve the stepping stone discovery that novelty search affords. In several existing methods, competition between solutions can lead to an unintended loss of diversity. Behavior domination defines a class of algorithms that avoid this problem, while inheriting theoretical guarantees from multiobjective optimization. Several existing algorithms are shown to be in this class, and a new algorithm is introduced based on fast non-dominated sorting. Experimental results show that this algorithm outperforms existing approaches in domains that contain useful stepping stones, and its advantage is sustained with scale. The conclusion is that behavior domination can help illuminate the complex dynamics of behavior-driven search, and can thus lead to the design of more scalable and robust algorithms.Comment: To Appear in Proceedings of the Genetic and Evolutionary Computation Conference (GECCO 2017

Improving machine dynamics via geometry optimization

The central thesis of this paper is that the dynamic performance of machinery can be improved dramatically in certain cases through a systematic and meticulous evolutionary algorithm search through the space of all structural geometries permitted by manufacturing, cost and functional constraints. This is a cheap and elegant approach in scenarios where employing active control elements is impractical for reasons of cost and complexity. From an optimization perspective the challenge lies in the efficient, yet thorough global exploration of the multi-dimensional and multi-modal design spaces often yielded by such problems. Morevoer, the designs are often defined by a mixture of continuous and discrete variables - a task that evolutionary algorithms appear to be ideally suited for. In this article we discuss the specific case of the optimization of crop spraying machinery for improved uniformity of spray deposition, subject to structural weight and manufacturing constraints. Using a mixed variable evolutionary algorithm allowed us to optimize both shape and topology. Through this process we have managed to reduce the maximum roll angle of the sprayer by an order of magnitude , whilst allowing only relatively inexpensive changes to the baseline design. Further (though less dramatic) improvements were shown to be possible when we relaxed the cost constraint. We applied the same approach to the inverse problem of reducing the mass while maintaining an acceptable roll angle - a 2% improvement proved possible in this cas

Rehabilitation of a water distribution system using sequential multiobjective optimization models

Identification of the optimal rehabilitation plan for a large water distribution system (WDS) with a substantial number of decision variables is a challenging task, especially when no supercomputer facilities are available. This paper presents an initiative methodology for the rehabilitation of WDS based on three sequential stages of multiobjective optimization models for gradually identifying the best-known Pareto front (PF). A two-objective optimization model is used in the first two stages where the objectives are to minimize rehabilitated infrastructure costs and operational costs. The optimization model in the first stage applies to a skeletonized WDS. The PFs obtained in Stage 1 are further improved in Stage 2 using the same two-objective optimization problem but for the full network. The third stage employs a three-objective optimization model by minimizing the cost of additional pressure reducing valves (PRVs) as the third objective. The suggested methodology was demonstrated through use of a real and large WDS from the literature. Results show the efficiency of the suggested methodology to achieve the optimal solutions for a large WDS in a reasonable computational time. Results also suggest the minimum total costs that will be obtained once maximum leakage reduction is achieved due to maximum possible pipeline rehabilitation without increasing the existing tanks

Improving the resilience of post-disaster water distribution systems using a dynamic optimization framework

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.Improving the resilience of water distribution systems (WDSs) to handle natural disasters (e.g., earthquakes) is a critical step towards sustainable urban water management. This requires the water utility to be able to respond quickly to such disaster events and in an organized manner, to prioritize the use of available resources to restore service rapidly whilst minimizing the negative impacts. Many methods have been developed to evaluate the WDS resilience, but few efforts are made so far to improve resilience of a post-disaster WDS through identifying optimal sequencing of recovery actions. To address this gap, a new dynamic optimization framework is proposed here where the resilience of a post-disaster WDS is evaluated using six different metrics. A tailored Genetic Algorithm is developed to solve the complex optimization problem driven by these metrics. The proposed framework is demonstrated using a real-world WDS with 6,064 pipes. Results obtained show that the proposed framework successfully identifies near-optimal sequencing of recovery actions for this complex WDS. The gained insights, conditional on the specific attributes of the case study, include: (i) the near-optimal sequencing of recovery strategy heavily depends on the damage properties of the WDS, (ii) replacements of damaged elements tend to be scheduled at the intermediate-late stages of the recovery process due to their long operation time, and (iii) interventions to damaged pipe elements near critical facilities (e.g., hospitals) should not be necessarily the first priority to recover due to complex hydraulic interactions within the WDS