47,283 research outputs found
The Ariadne's Clew Algorithm
We present a new approach to path planning, called the "Ariadne's clew
algorithm". It is designed to find paths in high-dimensional continuous spaces
and applies to robots with many degrees of freedom in static, as well as
dynamic environments - ones where obstacles may move. The Ariadne's clew
algorithm comprises two sub-algorithms, called Search and Explore, applied in
an interleaved manner. Explore builds a representation of the accessible space
while Search looks for the target. Both are posed as optimization problems. We
describe a real implementation of the algorithm to plan paths for a six degrees
of freedom arm in a dynamic environment where another six degrees of freedom
arm is used as a moving obstacle. Experimental results show that a path is
found in about one second without any pre-processing
Optimal Parameter Choices Through Self-Adjustment: Applying the 1/5-th Rule in Discrete Settings
While evolutionary algorithms are known to be very successful for a broad
range of applications, the algorithm designer is often left with many
algorithmic choices, for example, the size of the population, the mutation
rates, and the crossover rates of the algorithm. These parameters are known to
have a crucial influence on the optimization time, and thus need to be chosen
carefully, a task that often requires substantial efforts. Moreover, the
optimal parameters can change during the optimization process. It is therefore
of great interest to design mechanisms that dynamically choose best-possible
parameters. An example for such an update mechanism is the one-fifth success
rule for step-size adaption in evolutionary strategies. While in continuous
domains this principle is well understood also from a mathematical point of
view, no comparable theory is available for problems in discrete domains.
In this work we show that the one-fifth success rule can be effective also in
discrete settings. We regard the ~GA proposed in
[Doerr/Doerr/Ebel: From black-box complexity to designing new genetic
algorithms, TCS 2015]. We prove that if its population size is chosen according
to the one-fifth success rule then the expected optimization time on
\textsc{OneMax} is linear. This is better than what \emph{any} static
population size can achieve and is asymptotically optimal also among
all adaptive parameter choices.Comment: This is the full version of a paper that is to appear at GECCO 201
A service oriented architecture for engineering design
Decision making in engineering design can be effectively addressed by using genetic algorithms to solve multi-objective problems. These multi-objective genetic algorithms
(MOGAs) are well suited to implementation in a Service Oriented Architecture. Often the evaluation process of the MOGA is compute-intensive due to the use of a complex computer model to represent the real-world system. The emerging paradigm of Grid Computing offers
a potential solution to the compute-intensive nature of this objective function evaluation, by
allowing access to large amounts of compute resources in a distributed manner. This paper presents a grid-enabled framework for multi-objective optimisation using genetic algorithms (MOGA-G) to aid decision making in engineering design
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