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Robot Mission Planning using Co-evolutionary Optimization
- Source :
- Robotica. 38:512-530
- Publication Year :
- 2019
- Publisher :
- Cambridge University Press (CUP), 2019.
-
Abstract
- SummaryMission planning is a complex motion planning problem specified by using Temporal Logic constituting of Boolean and temporal operators, typically solved by model verification algorithms with an exponential complexity. The paper proposes co-evolutionary optimization thus building an iterative solution to the problem. The language for mission specification is generic enough to represent everyday missions, while specific enough to design heuristics. The mission is broken into components which cooperate with each other. The experiments confirm that the robot is able to outperform the search, evolutionary and model verification techniques. The results are demonstrated by using a Pioneer LX robot.
- Subjects :
- Exponential complexity
0209 industrial biotechnology
Cooperative coevolution
Computer science
business.industry
General Mathematics
Evolutionary robotics
02 engineering and technology
Computer Science Applications
020901 industrial engineering & automation
Control and Systems Engineering
Genetic algorithm
0202 electrical engineering, electronic engineering, information engineering
Robot
020201 artificial intelligence & image processing
Temporal logic
Artificial intelligence
Motion planning
business
Heuristics
Software
Subjects
Details
- ISSN :
- 14698668 and 02635747
- Volume :
- 38
- Database :
- OpenAIRE
- Journal :
- Robotica
- Accession number :
- edsair.doi...........97d61026be1b67b5f305467349be1b89
- Full Text :
- https://doi.org/10.1017/s026357471900081x