Onboard Evolution of Understandable Swarm Behaviors

Designing the individual robot rules that give rise to desired emergent swarm behaviors is difficult. The common method of running evolutionary algorithms off‐line to automatically discover controllers in simulation suffers from two disadvantages: the generation of controllers is not situated in the swarm and so cannot be performed in the wild, and the evolved controllers are often opaque and hard to understand. A swarm of robots with considerable on‐board processing power is used to move the evolutionary process into the swarm, providing a potential route to continuously generating swarm behaviors adapted to the environments and tasks at hand. By making the evolved controllers human‐understandable using behavior trees, the controllers can be queried, explained, and even improved by a human user. A swarm system capable of evolving and executing fit controllers entirely onboard physical robots in less than 15 min is demonstrated. One of the evolved controllers is then analyzed to explain its functionality. With the insights gained, a significant performance improvement in the evolved controller is engineered

Studying Parallel Evolutionary Algorithms: The cellular Programming Case

Parallel evolutionary algorithms, studied to some extent over the past few years, have proven empirically worthwhile—though there seems to be lacking a better understanding of their workings. In this paper we concentrate on cellular (fine-grained) models, presenting a number of statistical measures, both at the genotypic and phenotypic levels. We demonstrate the application and utility of these measures on a specific example, that of the cellular programming evolutionary algorithm, when used to evolve solutions to a hard problem in the cellular-automata domain, known as synchronization

A service oriented architecture for decision making in 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

A new initialization procedure for the distributed estimation of distribution algorithms

Estimation of distribution algorithms (EDAs) are one of the most promising paradigms in today’s evolutionary computation. In this field, there has been an incipient activity in the so-called parallel estimation of distribution algorithms (pEDAs). One of these approaches is the distributed estimation of distribution algorithms (dEDAs). This paper introduces a new initialization mechanism for each of the populations of the islands based on the Voronoi cells. To analyze the results, a series of different experiments using the benchmark suite for the special session on Real-parameter Optimization of the IEEE CEC 2005 conference has been carried out. The results obtained suggest that the Voronoi initialization method considerably improves the performance obtained from a traditional uniform initialization

Human Action Recognition Based on Temporal Pyramid of Key Poses Using RGB-D Sensors

Human action recognition is a hot research topic in computer vision, mainly due to the high number of related applications, such as surveillance, human computer interaction, or assisted living. Low cost RGB-D sensors have been extensively used in this field. They can provide skeleton joints, which represent a compact and effective representation of the human posture. This work proposes an algorithm for human action recognition where the features are computed from skeleton joints. A sequence of skeleton features is represented as a set of key poses, from which histograms are extracted. The temporal structure of the sequence is kept using a temporal pyramid of key poses. Finally, a multi-class SVM performs the classification task. The algorithm optimization through evolutionary computation allows to reach results comparable to the state-of-the-art on the MSR Action3D dataset.This work was supported by a STSM Grant from COST Action IC1303 AAPELE - Architectures, Algorithms and Platforms for Enhanced Living Environments

A Dynamic Island-Based Genetic Algorithms Framework

This work presents a dynamic island model framework for helping the resolution of combinatorial optimization problems with evolutionary algorithms. In this framework, the possible migrations among islands are represented by a complete graph. The migrations probabilities associated to each edge are dynamically updated with respect to the last migrations impact. This new framework is tested on the well-known 0/1 Knapsack problem and MAX-SAT problem. Good results are obtained and several properties of this framework are studied

Mining for diagnostic information in body surface potential maps: A comparison of feature selection techniques

BACKGROUND: In body surface potential mapping, increased spatial sampling is used to allow more accurate detection of a cardiac abnormality. Although diagnostically superior to more conventional electrocardiographic techniques, the perceived complexity of the Body Surface Potential Map (BSPM) acquisition process has prohibited its acceptance in clinical practice. For this reason there is an interest in striking a compromise between the minimum number of electrocardiographic recording sites required to sample the maximum electrocardiographic information. METHODS: In the current study, several techniques widely used in the domains of data mining and knowledge discovery have been employed to mine for diagnostic information in 192 lead BSPMs. In particular, the Single Variable Classifier (SVC) based filter and Sequential Forward Selection (SFS) based wrapper approaches to feature selection have been implemented and evaluated. Using a set of recordings from 116 subjects, the diagnostic ability of subsets of 3, 6, 9, 12, 24 and 32 electrocardiographic recording sites have been evaluated based on their ability to correctly asses the presence or absence of Myocardial Infarction (MI). RESULTS: It was observed that the wrapper approach, using sequential forward selection and a 5 nearest neighbour classifier, was capable of choosing a set of 24 recording sites that could correctly classify 82.8% of BSPMs. Although the filter method performed slightly less favourably, the performance was comparable with a classification accuracy of 79.3%. In addition, experiments were conducted to show how (a) features chosen using the wrapper approach were specific to the classifier used in the selection model, and (b) lead subsets chosen were not necessarily unique. CONCLUSION: It was concluded that both the filter and wrapper approaches adopted were suitable for guiding the choice of recording sites useful for determining the presence of MI. It should be noted however that in this study recording sites have been suggested on their ability to detect disease and such sites may not be optimal for estimating body surface potential distributions