检索结果-内蒙古大学图书馆

arXiv 2021年

作者： Bossek, Jakob Neumann, Frank Peng, Pan Sudholt, Dirk Statistics and Optimization University of Münster Münster Germany School of Computer Science The University of Adelaide Adelaide Australia Department of Computer Science University of Sheffield Sheffield United Kingdom Algorithms for Intelligent Systems University of Passau Passau Germany

We contribute to the theoretical understanding of randomized search heuristics for dynamic problems. We consider the classical vertex coloring problem on graphs and investigate the dynamic setting where edges are added to the current graph. We then analyze the expected time for randomized search heuristics to recompute high quality solutions. The (1+1) Evolutionary Algorithm and RLS operate in a setting where the number of colors is bounded and we are minimizing the number of conflicts. Iterated local search algorithms use an unbounded color palette and aim to use the smallest colors and, consequently, the smallest number of colors. We identify classes of bipartite graphs where reoptimization is as hard as or even harder than optimization from scratch, i.e., starting with a random initialization. Even adding a single edge can lead to hard symmetry problems. However, graph classes that are hard for one algorithm turn out to be easy for others. In most cases our bounds show that reoptimization is faster than optimizing from scratch. We further show that tailoring mutation operators to parts of the graph where changes have occurred can significantly reduce the expected reoptimization time. In most settings the expected reoptimization time for such tailored algorithms is linear in the number of added edges. However, tailored algorithms cannot prevent exponential times in settings where the original algorithm is inefficient. Copyright © 2021, The Authors. All rights reserved.

关键词： Heuristic algorithms

来源：评论

学校读者我要写书评

暂无评论

Utilizing object-oriented design to build advanced optimization strategies with generic implementation 6th

Utilizing object-oriented design to build advanced optimizat...

引用

6th AIAA/NASA/ISSMO Symposium on Multidisciplinary Analysis and Optimization, 1996

作者： Eldred, M.S. Hart, W.E. Bohnhoff, W.J. Romero, V.J. Hutchinson, S.A. Salinger, A.G. Structural Dynamics Dept Mail Stop 0439 United Kingdom SMTS Algorithms and Discrete Math Dept Mail Stop 1110 United Kingdom SMTS Intelligent Systems Dept Mail Stop 1177 United Kingdom SMTS Thermal Sciences Dept Mail Stop 0835 United Kingdom SMTS Parallel Computational Sciences Dept Mail Stop 1111 United Kingdom Parallel Computational Sciences Dept Mail Stop 1111 United Kingdom

The benefits of applying optimization to computational models are well known, but their range of widespread application to date has been limited. This effort attempts to extend the disciplinary areas to which optimization algorithms may be readily applied through the development and application of advanced optimization strategies capable of handling the computational difficulties associated with complex simulation codes. Towards this goal, a flexible software framework is under continued development for the application of optimization techniques to broad classes of engineering applications, including those with high computational expense and nonsmooth, nonconvex design space features. Object-oriented software design with C++ has been employed as a tool in providing a flexible, extensible, and robust multidisciplinary toolkit that establishes the protocol for interfacing optimization with compulationally-intensive simulations. In this paper, demonstrations of advanced optimization strategies using the software are presented in the hybridization and parallel processing research areas. Performance of the advanced strategies is compared with a benchmark nonlinear programming optimization. © 1996 by the American Institue of Aeronautics & Astronautics, Inc. All rights reserved.

关键词： C++ (programming language)

来源：评论

学校读者我要写书评

暂无评论

Specialization as an optimal strategy under varying external conditions

Specialization as an optimal strategy under varying external...

引用

2009 IEEE International Conference on Robotics and Automation, ICRA '09

作者： Hsieh, M. Ani Halász, Ádám Cubuk, Ekin Dogus Schoenholz, Samuel Martinoli, Alcherio Mechanical Engineering and Mechanics Department Drexel University 3141 Chestnut Street Philadelphia PA 19104 United States Department of Mathematics West Virginia University P.O. Box 6310 Morgantown WV 26506 United States Swarthmore College 500 College Ave. Swarthmore PA 19081 United States Distributed Intelligent Systems and Algorithms Laboratory École Politechnique Fédérale de Lausanne CH-1015 Lausanne Switzerland

ISBN: (纸本)9781424427895

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.© 2009 IEEE.

关键词： Swarm intelligence

来源：评论

学校读者我要写书评

暂无评论

Accommodation of NLOS for ultra-wideband TDOA localization in single- and multi-robot systems

Accommodation of NLOS for ultra-wideband TDOA localization i...

引用

International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Amanda Prorok Phillip Tomé Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland Electronics and Signal Processing Laboratory School of Engineering Ecole Polytechnique Fédérale de Lausanne Switzerland

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of-sight (NLOS) positioning scenarios can potentially cause significant localization errors and remain a challenge. In this work, we propose a novel, probabilistic UWB TDOA error model which explicitly takes into account NLOS. In order to validate our approach systematically in a real world setup, we leverage the utility of a group of mobile robots, and introduce our error model into a real-time localization framework run onboard the robots. We subsequently extend our framework by employing a collaborative localization strategy which enables the sharing of inter-robot, relative position observations. Our experimental results show how the novel TDOA error model is able to improve localization performance when information on the LOS/NLOS path condition is available. These results are complemented by additional experiments which show how a collaborative team of robots is able to significantly improve localization performance when no information on the LOS/NLOS path condition is available.

关键词： Robot kinematics Mathematical model Robot sensing systems Measurement uncertainty Atmospheric measurements Particle measurements

来源：评论

学校读者我要写书评

暂无评论

Optimal path planning and coverage control for multi-robot persistent coverage in environments with obstacles

Optimal path planning and coverage control for multi-robot p...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： José Manuel Palacios-Gasós Zeynab Talebpour Eduardo Montijano Carlos Sagüés Alcherio Martinoli Instituto de Investigación en Ingeniería de Aragón (I3A) Universidad de Zaragoza Zaragoza Spain Ecole Polytechnique Fédrale de Lausanne Zeynab Talebpour and Alcherio Martinoli are with Distributed Intelligent Systems and Algorithms Laboratory Lausanne Switzerland

Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally finds the best paths and coverage actions to keep the desired coverage level over the whole environment. Using Fast Marching Methods, optimal paths are computed in terms of coverage quality, while keeping a safety distance to obstacles. Additionally, our solution enables a computationally efficient evaluation of a list of potential trajectories, allowing us to choose the one that mostly improves the coverage along the whole path. The combination of this algorithm with a Dynamic Window navigation makes our approach competitive in terms of flexibility and robustness in changing environments with existing solutions. Finally, we also propose a coverage action controller, locally computed and optimal, that makes the robots maintain the coverage level of the environment significantly close to the objective. Simulations and real experiments validate the whole approach.

关键词： Robot sensing systems Planning Trajectory Collision avoidance Production

来源：评论

学校读者我要写书评

暂无评论

On the effects of biased quantum random numbers on the initialization of artificial neural networks

arXiv

引用

arXiv 2021年

作者： Heese, Raoul Wolter, Moritz Mücke, Sascha Franken, Lukas Piatkowski, Nico Fraunhofer Center for Machine Learning and Fraunhofer Institute for Industrial Mathematics ITWM Germany Fraunhofer Center for Machine Learning and Fraunhofer Institute for Algorithms and Scientific Computing SCAI Germany Artificial Intelligence Group TU Dortmund University Germany Fraunhofer Institute for Intelligent Analysis and Information Systems IAIS Germany

Recent advances in practical quantum computing have led to a variety of cloud-based quantum computing platforms that allow researchers to evaluate their algorithms on noisy intermediate-scale quantum (NISQ) devices. A common property of quantum computers is that they can exhibit instances of true randomness as opposed to pseudo-randomness obtained from classical systems. Investigating the effects of such true quantum randomness in the context of machine learning is appealing, and recent results vaguely suggest that benefits can indeed be achieved from the use of quantum random numbers. To shed some more light on this topic, we empirically study the effects of hardware-biased quantum random numbers on the initialization of artificial neural network weights in numerical experiments. We find no statistically significant difference in comparison with unbiased quantum random numbers as well as biased and unbiased random numbers from a classical pseudo-random number generator. The quantum random numbers for our experiments are obtained from real quantum hardware. Copyright © 2021, The Authors. All rights reserved.

关键词： Random number generation

来源：评论

学校读者我要写书评

暂无评论

Specialization as an optimal strategy under varying external conditions

Specialization as an optimal strategy under varying external...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Ani Hsieh Adam Halasz Ekin Dogus Cubuk Samuel Schoenholz Alcherio Martinoli Mechanical Engineering and Mechanics Department Drexel University Philadelphia PA USA Department of Mathematics West Virginia University Morgantown WV USA Swarthmore College Swarthmore PA USA Distributed Intelligent Systems and Algorithms Laboratory École Polytechnique Fédérale de Lausanne Lausanne Switzerland

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al., and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same applies for a two species swarm, we show how specialization is a strategy best employed for changing external conditions.

关键词： Educational robots Robot kinematics Collaboration Robot sensing systems Analytical models Productivity Environmental economics Microorganisms Educational institutions Robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Measuring sensible heat flux with high spatial density

Measuring sensible heat flux with high spatial density

引用

IEEE Sensors Applications Symposium, SAS

作者： Alexander Bahr Chris Evans Alcherio Martinoli Hendrik Huwald Chad Higgins Marc Parlange Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland Environmental Fluid Mechanics and Hydrology School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

Sensible heat flux is an essential quantity in the surface energy budget. Information about it is crucial for the derivation of models of air-surface interaction which in turn are needed for larger scale climate models. Sensible heat flux varies greatly across short distances and thus many sensors are required in order to obtain measurements of sufficient spatial density. The standard measurement method however requires expensive equipment which constrains the deployment of a large number of sensors. Our work implements a method relying only on the variance of the measured temperature to compute the sensible heat flux. We first verify the validity of this method and then modify Sensorscope, a commercially available weather station, to capture the required data. The resulting setup is able to provide sensible heat flux measurements with high spatial density in near real time at negligible additional cost.

关键词： Temperature sensors Temperature measurement Heating Microcontrollers Fluid flow measurement Frequency measurement

来源：评论

学校读者我要写书评

暂无评论

Automated real-time control of fluidic self-assembly of microparticles

Automated real-time control of fluidic self-assembly of micr...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Massimo Mastrangeli Felix Schill Jonas Goldowsky Helmut Knapp Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory (DISAL) School of Architecture Civil and Environmental Engineering École Poly-technique Fédérale de Lausanne (EPFL) Lausanne Switzerland Swiss Center for Electronics and Microtechnology (CSEM) Alpnach Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Self-assembly is a key coordination mechanism for large multi-unit systems and a powerful bottom-up technology for micro/nanofabrication. Controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridge these domains to build innovative systems. In this perspective, we present SelfSys, a novel platform for the automated control of the fluidic self-assembly of microparticles. SelfSys centers around a water-filled microfluidic chamber whose agitation modes, induced by a coupled ultrasonic actuator, drive the assembly. Microparticle dynamics is imaged, tracked and analyzed in real-time by an integrated software framework, which in turn algorithmically controls the agitation modes of the microchamber. The closed control loop is fully automated and can direct the stochastic assembly of microparticle clusters of preset dimension. Control issues specific to SelfSys implementation are discussed, and its potential applications presented. The SelfSys platform embodies at microscale the automated self-assembly control paradigm we first demonstrated in an earlier platform.

关键词： Assembly Real-time systems Clustering algorithms Robot kinematics Self-assembly Acoustics

来源：评论

学校读者我要写书评

暂无评论

Towards 3-D distributed odor source localization: An extended graph-based formation control algorithm for plume tracking

Towards 3-D distributed odor source localization: An extende...

引用

IEEE/RSJ International Conference on intelligent Robots and systems

作者： Jorge M. Soares Ali Marjovi Jonathan Giezendanner Anil Kodiyan A. Pedro Aguiar Antonio M. Pascoal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne (EPFL) 1015 Switzerland Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Portugal Laboratory of Robotics and Engineering Systems Instituto Superior Técnico University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781509037636

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We propose an algorithm that takes advantage of spatially distributed measurements to track the plume in 3-D and lead the robots to the source by integrating three behaviors - upwind movement, plume centering, and Laplacian feedback formation control. We evaluate this strategy in simulation and with real robots in a wind tunnel. For a source close to the ground, results show that a team of robots running our algorithm reaches the source with low lateral error while also tracing the horizontal and vertical plume shape.

关键词： Robot sensing systems Robot kinematics Laplace equations Tracking Unmanned aerial vehicles Chemicals Manipulator sensing systems Robot kinematics Laplace's equation Position measurement plume plumes tracking Unmanned Aerial Vehicle chemical compounds Computer algorithms Robot vehicle drone honey bees Three Dimensions plume shape

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：