Path planning for an autonomous mobile robot considering a region with a velocity constraint in a real environment

Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated in the Real World Robot Challenge 2010. The experimental results are given.     

A note on double lacunary statistical $$\sigma$$-convergence of fuzzy numbers

Quite recently, Sava? (Appl Math Lett 21:134–141, 2008), defined the lacunary statistical analogue for double sequence \(X=\{X_{k,l}\}\) of fuzzy numbers as follows: a double sequence \(X=\{X_{k,l}\}\) is said to be lacunary P-statistically convergent to \(X_{0}\) provided that for each \(\epsilon >0\)

$ P-\lim_{r,s}\frac{1}{h_{r,s}}\left | \{(k,l)\in I_{r,s}: d(X_{k,l },X_0)\geq \epsilon\}\right|= 0. $

In this paper we introduce and study double lacunary \(\sigma\)-statistical convergence for sequence of fuzzy numbers and also we get some inclusion theorems.

     

How landscape ruggedness influences the performance of real-coded algorithms: a comparative study

Ruggedness has a strong influence on the performance of algorithms, but it has been barely studied in real-coded optimization, mainly because of the difficulty of isolating it from a number of involved topological properties. In this paper, we propose a framework consisting of increasing ruggedness function sets built by a mechanism which generates multiple funnels. This mechanism introduces different levels of sinusoidal distortion which can be controlled to isolate the singular influence of some related features. Some commonly used measures of ruggedness have been applied to analyze these sets of functions, and a numerical study to compare the performance of some representative algorithms has been carried out. The results confirm that ruggedness has an influence on the performance of the algorithm, proving that it depends on the multi-funnel structure and peak features, such as height and relative size of the global peak, and not on the number of peaks.     

A K-nearest neighbours method based on imprecise probabilities

K-nearest neighbours algorithms are among the most popular existing classification methods, due to their simplicity and good performances. Over the years, several extensions of the initial method have been proposed. In this paper, we propose a K-nearest neighbours approach that uses the theory of imprecise probabilities, and more specifically lower previsions. We show that the proposed approach has several assets: it can handle uncertain data in a very generic way, and decision rules developed within this theory allow us to deal with conflicting information between neighbours or with the absence of close neighbour to the instance to classify. We show that results of the basic k-NN and weighted k-NN methods can be retrieved by the proposed approach. We end with some experiments on the classical data sets.     

Missing data imputation for fuzzy rule-based classification systems

Fuzzy rule-based classification systems (FRBCSs) are known due to their ability to treat with low quality data and obtain good results in these scenarios. However, their application in problems with missing data are uncommon while in real-life data, information is frequently incomplete in data mining, caused by the presence of missing values in attributes. Several schemes have been studied to overcome the drawbacks produced by missing values in data mining tasks; one of the most well known is based on preprocessing, formerly known as imputation. In this work, we focus on FRBCSs considering 14 different approaches to missing attribute values treatment that are presented and analyzed. The analysis involves three different methods, in which we distinguish between Mamdani and TSK models. From the obtained results, the convenience of using imputation methods for FRBCSs with missing values is stated. The analysis suggests that each type behaves differently while the use of determined missing values imputation methods could improve the accuracy obtained for these methods. Thus, the use of particular imputation methods conditioned to the type of FRBCSs is required.     

Learning-enhanced differential evolution for numerical optimization

Differential evolution (DE) is a simple and powerful population-based search algorithm, successfully used in various scientific and engineering fields. However, DE is not free from the problems of stagnation and premature convergence. Hence, designing more effective search strategies to enhance the performance of DE is one of the most salient and active topics. This paper proposes a new method, called learning-enhanced DE (LeDE) that promotes individuals to exchange information systematically. Distinct from the existing DE variants, LeDE adopts a novel learning strategy, namely clustering-based learning strategy (CLS). In CLS, there are two levels of learning strategies, intra-cluster learning strategy and inter-cluster learning strategy. They are adopted for exchanging information within the same cluster and between different clusters, respectively. Experimental studies over 23 benchmark functions show that LeDE significantly outperforms the conventional DE. Compared with other clustering-based DE algorithms, LeDE can obtain better solutions. In addition, LeDE is also shown to be significantly better than or at least comparable to several state-of-art DE variants as well as some other evolutionary algorithms.     

Mining fuzzy association rules from low-quality data

Data mining is most commonly used in attempts to induce association rules from databases which can help decision-makers easily analyze the data and make good decisions regarding the domains concerned. Different studies have proposed methods for mining association rules from databases with crisp values. However, the data in many real-world applications have a certain degree of imprecision. In this paper we address this problem, and propose a new data-mining algorithm for extracting interesting knowledge from databases with imprecise data. The proposed algorithm integrates imprecise data concepts and the fuzzy apriori mining algorithm to find interesting fuzzy association rules in given databases. Experiments for diagnosing dyslexia in early childhood were made to verify the performance of the proposed algorithm.     

Residuated bilattices

We introduce a new product bilattice construction that generalizes the well-known one for interlaced bilattices and others that were developed more recently, allowing to obtain a bilattice with two residuated pairs as a certain kind of power of an arbitrary residuated lattice. We prove that the class of bilattices thus obtained is a variety, give a finite axiomatization for it and characterize the congruences of its members in terms of those of their lattice factors. Finally, we show how to employ our product construction to define first-order definable classes of bilattices corresponding to any first-order definable subclass of residuated lattices.     

The GPU on the simulation of cellular computing models

Membrane Computing is a discipline aiming to abstract formal computing models, called membrane systems or P systems, from the structure and functioning of the living cells as well as from the cooperation of cells in tissues, organs, and other higher order structures. This framework provides polynomial time solutions to NP-complete problems by trading space for time, and whose efficient simulation poses challenges in three different aspects: an intrinsic massively parallelism of P systems, an exponential computational workspace, and a non-intensive floating point nature. In this paper, we analyze the simulation of a family of recognizer P systems with active membranes that solves the Satisfiability problem in linear time on different instances of Graphics Processing Units (GPUs). For an efficient handling of the exponential workspace created by the P systems computation, we enable different data policies to increase memory bandwidth and exploit data locality through tiling and dynamic queues. Parallelism inherent to the target P system is also managed to demonstrate that GPUs offer a valid alternative for high-performance computing at a considerably lower cost. Furthermore, scalability is demonstrated on the way to the largest problem size we were able to run, and considering the new hardware generation from Nvidia, Fermi, for a total speed-up exceeding four orders of magnitude when running our simulations on the Tesla S2050 server.     

Extension of belief functions to infinite-valued events

We generalise belief functions to many-valued events which are represented by elements of Lindenbaum algebra of infinite-valued ?ukasiewicz propositional logic. Our approach is based on mass assignments used in the Dempster–Shafer theory of evidence. A generalised belief function is totally monotone and it has Choquet integral representation with respect to a unique belief measure on Boolean events.