A survey on metaheuristics for stochastic combinatorial optimization

Metaheuristics are general algorithmic frameworks, often nature-inspired, designed to solve complex optimization problems, and they are a growing research area since a few decades. In recent years, metaheuristics are emerging as successful alternatives to more classical approaches also for solving optimization problems that include in their mathematical formulation uncertain, stochastic, and dynamic information. In this paper metaheuristics such as Ant Colony Optimization, Evolutionary Computation, Simulated Annealing, Tabu Search and others are introduced, and their applications to the class of Stochastic Combinatorial Optimization Problems (SCOPs) is thoroughly reviewed. Issues common to all metaheuristics, open problems, and possible directions of research are proposed and discussed. In this survey, the reader familiar to metaheuristics finds also pointers to classical algorithmic approaches to optimization under uncertainty, and useful informations to start working on this problem domain, while the reader new to metaheuristics should find a good tutorial in those metaheuristics that are currently being applied to optimization under uncertainty, and motivations for interest in this fiel

Urban Swarms: A new approach for autonomous waste management

Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to become one of the main driving factors for innovation in the field of robotics. The research presented in this paper explores the feasibility of a swarm robotics system in an urban environment. By using bio-inspired foraging methods such as multi-place foraging and stigmergy-based navigation, a swarm of robots is able to improve the efficiency and autonomy of the urban waste management system in a realistic scenario. To achieve this, a diverse set of simulation experiments was conducted using real-world GIS data and implementing different garbage collection scenarios driven by robot swarms. Results presented in this research show that the proposed system outperforms current approaches. Moreover, results not only show the efficiency of our solution, but also give insights about how to design and customize these systems.Comment: Manuscript accepted for publication in IEEE ICRA 201

A unique midgut-associated bacterial community hosted by the cave beetle \u3cem\u3eCansiliella servadeii\u3c/em\u3e (Coleoptera: Leptodirini) reveals parallel phylogenetic divergences from universal gut-specific ancestors

Background Cansiliella servadeii (Coleoptera) is an endemic troglobite living in deep carbonate caves in North-Eastern Italy. The beetle constantly moves and browses in its preferred habitat (consisting in flowing water and moonmilk, a soft speleothem colonized by microorganisms) self-preens to convey material from elytra, legs, and antennae towards the mouth. We investigated its inner and outer microbiota using microscopy and DNA-based approaches. Results Abundant microbial cell masses were observed on the external appendages. Cansiliella’s midgut is fully colonized by live microbes and culture-independent analyses yielded nearly 30 different 16S phylotypes that have no overlap with the community composition of the moonmilk. Many of the lineages, dominated by Gram positive groups, share very low similarity to database sequences. However for most cases, notwithstanding their very limited relatedness with existing records, phylotypes could be assigned to bacterial clades that had been retrieved from insect or other animals’ digestive traits. Conclusions Results suggest a history of remote separation from a common ancestor that harboured a set of gut-specific bacteria whose functions are supposedly critical for host physiology. The phylogenetic and coevolutionary implications of the parallel occurrences of these prokaryotic guilds appear to apply throughout a broad spectrum of animal diversity. Their persistence and conservation underlies a possibly critical role of precise bacterial assemblages in animal-bacteria interactions

Urban Swarms: A new approach for autonomous waste management

Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm robotics systems have been attracting an increasing amount of attention in the past years and they are expected to become one of the main driving factors for innovation in the field of robotics. The research presented in this paper explores the feasibility of a swarm robotics system in an urban environment. By using bio-inspired foraging methods such as multi-place foraging and stigmergy-based navigation, a swarm of robots is able to improve the efficiency and autonomy of the urban waste management system in a realistic scenario. To achieve this, a diverse set of simulation experiments was conducted using real-world GIS data and implementing different garbage collection scenarios driven by robot swarms. Results presented in this research show that the proposed system outperforms current approaches. Moreover, results not only show the efficiency of our solution, but also give insights about how to design and customize these systems

cave hygropetric beetles and their feeding behaviour a comparative study of cansiliella servadeii and hadesia asamo coleoptera leiodidae cholevinae leptodirini

Several Leptodirini beetles (Leiodidae) are known to dwell in hygropetric habitats where films of water run down the cave walls, but observations of their behaviour are lacking. The ultra- specialised hygropetricolous beetles belonging to the genera Cansiliella and Hadesia are biogeographically and phylogenetically unrelated leptodirines. As the species of the former genus are known to be associated with the moonmilk deposits our study aimed to obtain data on their foraging behaviour, as well as to compare the feeding strategies of both genera. In situ monitoring of C. servadeii from the cave Grotta della Foos (Italy) and H. asamo from Bravenik Cave (Bosnia and Herzegovina), was complemented by video recordings to ensure accurate results. Mouthparts and tarsi of both species were examined using scanning electron microscopy and compared with H. weiratheri from Montenegro to evaluate potential morphological adaptations to the hygropetricolous ecological niches. The three species had significantly different mouthpart morphologies, likely due to differences in semi-aquatic feeding strategies and overall ecology. A series of new observations on site movement and feeding behaviour are presented, compared and discussed. Key words: Coleoptera, ecology, behaviour, moonmilk, cave hygropetric. Primerjava jamskih higropetricnih hroscev in njihovegaprehranjevanja; Cansiliella servadeii in Hadesia asamo (Coleoptera, Leiodidae, Cholevinae, Leptodirini) Stevilni hrosci iz poddružine Leptodirinae (Leiodidae) so prilagojeni na življenje v posebnem habitatu »jamskem higropetriku «, t.j. tankem sloju tekoce vode, ki tece po sigi. Zaenkrat je njihovo vedenje se precejsnja neznanka. Visoko specializirani higropetricni vrsti Cansiliella servadeii in Hadesia asamo sta geografsko loceni in filogenetsko nesorodni. Ker je prva ocitno vezana na depozite mehke sige (t.i. jamsko mleko), smo želeli raziskati iskanje hrane pri tej vrsti ter primerjati strategijo hranjenja obeh vrst. Da bi povecali zanesljivost rezultatov, smo poleg in situ opazovanja C. servadeii iz jame Grotta della Foos (Italija) in H. asamo iz jame Bravenik (Bosna in Hercegovina), njuno vedenje tudi posneli. Z vrsticnim elektronskim mikroskopom smo raziskali obustne okoncine in stopalca obeh vrst in jih primerjali s H. weiratheri iz Crne gore, da bi preverili potencialne morfoloske prilagoditve na specificno ekolosko niso. Bistvene razlike v zgradbi ustnega aparata so najverjetneje posledica razlik v strategiji hranjenja, kot tudi razlicne splosne ekologije omenjenih vrst. V prispevku predstavljamo, primerjamo in razpravljamo o novih opažanjih povezanih z gibanjem in prehranjevanjem higropetricnih hroscev. Kljucne besede: Coleoptera, ekologija, vedenje, jamsko mleko, jamski higropetrik

Clarifications on the "Comparison Between SMOS, VUA, ASCAT, and ECMWF Soil Moisture Products Over Four Watersheds in U.S."

In a recent paper, Leroux et al. compared three satellite soil moisture data sets (SMOS, AMSR-E, and ASCAT) and ECMWF forecast soil moisture data to in situ measurements over four watersheds located in the United States. Their conclusions stated that SMOS soil moisture retrievals represent "an improvement [in RMSE] by a factor of 2-3 compared with the other products" and that the ASCAT soil moisture data are "very noisy and unstable." In this clarification, the analysis of Leroux et al. is repeated using a newer version of the ASCAT data and additional metrics are provided. It is shown that the ASCAT retrievals are skillful, although they show some unexpected behavior during summer for two of the watersheds. It is also noted that the improvement of SMOS by a factor of 2-3 mentioned by Leroux et al. is driven by differences in bias and only applies relative to AMSR-E and the ECWMF data in the now obsolete version investigated by Leroux et al

Evolving Self-Organizing Behaviors for a Swarm-bot

In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a simplified simulation model of the s-bots, show that evolution can discover simple but effective controllers for both the aggregation and the coordinated motion of the swarm-bot. Analysis of the evolved controllers shows that they have properties of scalability, that is, they continue to be effective for larger group sizes, and of generality, that is, they produce similar behaviors for configurations different from those they were originally evolved for. The portability of the evolved controllers to real s-bots is tested using a detailed simulation model which has been validated against the real s-bots in a companion paper in this same special issue

A Cognitive Architecture Based on a Learning Classifier System with Spiking Classifiers

© 2015, Springer Science+Business Media New York. Learning classifier systems (LCS) are population-based reinforcement learners that were originally designed to model various cognitive phenomena. This paper presents an explicitly cognitive LCS by using spiking neural networks as classifiers, providing each classifier with a measure of temporal dynamism. We employ a constructivist model of growth of both neurons and synaptic connections, which permits a genetic algorithm to automatically evolve sufficiently-complex neural structures. The spiking classifiers are coupled with a temporally-sensitive reinforcement learning algorithm, which allows the system to perform temporal state decomposition by appropriately rewarding “macro-actions”, created by chaining together multiple atomic actions. The combination of temporal reinforcement learning and neural information processing is shown to outperform benchmark neural classifier systems, and successfully solve a robotic navigation task