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Fractal Graph Optimization Algorithms

Fractal Graph Optimization Algorithms

引用

IEEE Conference on Decision and control

作者： J.R. Riehl J.P. Hespanha Center for Control Dynamical Systems and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We introduce methods of hierarchically decomposing three types of graph optimization problems: all-pairs shortest path, all-pairs maximum flow,and search. Each method uses a partition on the graph to create a high level problem and several lower level problems. The computations on each level are identical, so the low level problems can be further decomposed. In this way, the problems become fractal in nature. We use these decomposition methods to establish upper and lower bounds on the optimal criteria of each problem, which can be achieved with much less computation than what is required to solve the original problem. Also, for each problem, we find an optimal number of partitions that minimizes computation time. As the number of hierarchical levels increases, the computational complexity decreases at the expense of looser bounds.

关键词： Fractals Partitioning algorithms Shortest path problem Search problems Navigation Path planning Costs Dynamic programming Optimization methods computational complexity

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Cooperative coevolutionary invasive weed optimization and its application to Nash equilibrium search in electricity markets

Cooperative coevolutionary invasive weed optimization and it...

引用

World Congress on Nature & Biologically Inspired Computing (NaBIC)

作者： Hossein Hajimirsadeghi Amin Ghazanfari Ashkan Rahimi-Kian Caro Lucas Control and Intelligent Processing Center of Excellence ECE Department College of Engineering University of Tehran Tehran Iran

This paper presents a coevolutionary algorithm named cooperative coevolutionary invasive weed optimization (CCIWO) and investigates its performance for global optimization of functions with numerous local optima and also Nash equilibrium (NE) search for games. Ability of CCIWO for function optimization is tested through a set of common benchmarks of stochastic optimization, and reported results are compared with two other coevolutionary algorithms. In advance, a three-bus transmission-constrained electricity market model is studied, and CCIWO is employed to find NE for this complex system. Experimental results show efficiency of the proposed method to have more accurate solutions.

关键词： Nash equilibrium Electricity supply industry Stochastic processes computational modeling Algorithm design and analysis Process control Intelligent control Educational institutions Electronic mail Testing

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Algorithms for the Traveling Salesman Problem with Neighborhoods Involving a Dubins Vehicle

Algorithms for the Traveling Salesman Problem with Neighborh...

引用

2011 American control Conference (ACC)

作者： Jason T. Isaacs Daniel J. Klein Joao P. Hespanha Center for Control Dynamical Systems and Computation and the Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We study the problem of finding the minimum-length curvature constrained closed path through a set of regions in the plane. This problem is referred to as the Dubins Traveling Salesperson Problem with Neighborhoods (DTSPN). Two algorithms are presented that transform this infinite dimensional combinatorial optimization problem into a finite dimensional asymmetric TSP by sampling and applying the appropriate transformations, thus allowing the use of existing approximation algorithms. We show for the case of disjoint regions, the first algorithm needs only to sample each region once to produce a tour within a factor of the length of the optimal tour that is independent of the number of regions. We present a second algorithm that performs no worse than the best existing algorithm and can perform significantly better when the regions overlap.

关键词： Approximation algorithms Approximation methods Traveling salesman problems Path planning Aircraft Vehicle dynamics Euclidean distance

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RF communication between surface and underwater robotic swarms

RF communication between surface and underwater robotic swar...

引用

Proceedings of the Biannual World Automation Congress

作者： Ted Shaneyfelt Matthew A. Joordens Kranthimanoj Nagothu Mo Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

In order for underwater robots to communicate with land and air based robots on an equal basis, high speed communications is required. If the robots are not to be tethered then wireless communications is the only possibility. Sonar communications is too slow. Unfortunately radio waves are rapidly attenuated under water due to phenomena such as skin depth. These experiments attempt to extend the range of underwater radio communications.

关键词： Radio frequency Underwater communication Sea surface Sonar Radio communication Underwater vehicles Robot sensing systems control engineering Wireless communication Skin

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Simulation of underwater robots using MS Robot Studio©

Simulation of underwater robots using MS Robot Studio©

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： John Prevost Matthew A. Joordens Mo Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

One stage in designing the control for underwater robot swarms is to confirm the control algorithms via simulation. To perform the simulation Microsoftpsilas Robotic Studiocopy was chosen. The problem with this simulator and others like it is that it is set up for land-based robots only. This paper explores one possible way to get around this limitation. This solution cannot only work for underwater vehicles but aerial vehicles as well.

关键词： computational modeling Java control engineering Underwater vehicles Physics Mobile robots Engines Testing Computer simulation Graphical user interfaces

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Applications and prototype for system of systems swarm robotics

Applications and prototype for system of systems swarm robot...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： M.A. Joordens T. Shaneyfelt K. Nagothu S. Eega A. Jaimes M. Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

In order to develop a robotic system of systems the robotic platforms must be designed and built. For this to happen, the type of application involved should be clear. Swarm robots need to be self contained and powered. They must also be self governing. Here the authors examine various applications and a prototype robot that may be useful in these scenarios.

关键词： Prototypes Robot kinematics Humans Testing Brain modeling control engineering Scalability Robot programming Robot sensing systems Underwater vehicles

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Path-following for a class of nonlinear systems with unstable zero dynamics

Path-following for a class of nonlinear systems with unstabl...

引用

IEEE Conference on Decision and control

作者： D.B. Dacic M.V. Subbotin P.V. Kokotovic Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California슠Santa Barbara Santa Barbara CA USA

In the practical path-following problem formulated in this paper, it is required that the error between the system output and the desired geometric path be less then any prespecified constant. If in a nonlinear MIMO system the output derivatives do not enter the zero dynamics, a geometric condition on the path is given under which a solution to this problem exists. The solution is obtained by combining input-to-state stability and switched-system methodology.

关键词： Nonlinear systems Nonlinear dynamical systems Output feedback Optical character recognition software Sufficient conditions MIMO Stability Humans Linear systems Vectors

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Systems of Systems Communication for heterogeneous independent operable systems

Systems of Systems Communication for heterogeneous independe...

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： Kranthimanoj Nagothu Ted Shaneyfelt Pactrick Benavidez Matthew A. Jordens Srinath kota Mo Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

Swarms of robots in heterogeneous environments working together in a System of Systems, raise the need for suitable inter-swarm communication. This paper presents a potentially viable solution. Communication for land swarms was found to be successful through ZigBee Radio Modems, and a suitable counterpart is necessary for underwater swarms in a system of systems. An extensible standards based protocol to accommodate different types of data was developed for use among the swarm robots. This communication system allows for dynamic swarm expansion, where new members can be added to the swarm family. This enables coordination among robots within and between swarms in a system of systems framework.

关键词： Robot kinematics Underwater communication Communication system control control engineering Protocols Aerodynamics Robot sensing systems control systems Hardware Underwater vehicles

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Low cost underwater robot sensor suite

Low cost underwater robot sensor suite

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： Matthew Joordens Jared Serna Scott Songer Casey Friday Julie Hoy Ralph Seiger Walter Madalinski Mo Jamshidi Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

One of the most expensive parts of underwater robotics is the sensors. This paper looks at modifying off the shelf components to create a sensor suite on a small budget. A big saving is made with sonar using a cheap commercial product to create a four sonar array. A depth sensor and acceleration navigation system are also developed.

关键词： Costs Robot sensing systems Sonar navigation Acoustic pulses Space vector pulse width modulation Sonar measurements control engineering Marine animals Global Positioning System Microprocessors

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Design of a low cost underwater robotic research platform

Design of a low cost underwater robotic research platform

引用

IEEE International Conference on System of Systems engineering (SoSE)

作者： Matthew A. Joordens Autonomous Control Engineering (ACE) Center and ECE Department University of Technology San Antonio TX USA

To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Finally it must be able to navigate and avoid obstacles. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This paper describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics.

关键词： Costs Robot sensing systems Navigation Legged locomotion Fasteners Mobile robots control engineering Seals Electronic ballasts USA Councils

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