Generalized-ensemble algorithms: enhanced sampling techniques for Monte Carlo and molecular dynamics simulations

In complex systems with many degrees of freedom such as spin glass and biomolecular systems, conventional simulations in canonical ensemble suffer from the quasi-ergodicity problem. A simulation in generalized ensemble performs a random walk in potential energy space and overcomes this difficulty. From only one simulation run, one can obtain canonical ensemble averages of physical quantities as functions of temperature by the single-histogram and/or multiple-histogram reweighting techniques. In this article we review the generalized ensemble algorithms. Three well-known methods, namely, multicanonical algorithm (MUCA), simulated tempering (ST), and replica-exchange method (REM), are described first. Both Monte Carlo (MC) and molecular dynamics (MD) versions of the algorithms are given. We then present five new generalized-ensemble algorithms which are extensions of the above methods.     

Motion planning and control for mobile robot navigation using machine learning: a survey

Autonomous Robots - Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated...     

A survey: hybrid evolutionary algorithms for cluster analysis

Clustering is a popular data analysis and data mining technique. It is the unsupervised classification of patterns into groups. Many algorithms for large data sets have been proposed in the literature using different techniques. However, conventional algorithms have some shortcomings such as slowness of the convergence, sensitive to initial value and preset classed in large scale data set etc. and they still require much investigation to improve performance and efficiency. Over the last decade, clustering with ant-based and swarm-based algorithms are emerging as an alternative to more traditional clustering techniques. Many complex optimization problems still exist, and it is often very difficult to obtain the desired result with one of these algorithms alone. Thus, robust and flexible techniques of optimization are needed to generate good results for clustering data. Some algorithms that imitate certain natural principles, known as evolutionary algorithms have been used in a wide variety of real-world applications. Recently, much research has been proposed using hybrid evolutionary algorithms to solve the clustering problem. This paper provides a survey of hybrid evolutionary algorithms for cluster analysis.     

View planning in robot active vision: A survey of systems,algorithms, and applications

Computational Visual Media - Rapid development of artificial intelligence motivates researchers to expand the capabilities of intelligent and autonomous robots. In many robotic applications, robots...     

Motion planning algorithms of an omni-directional mobile robot with active caster wheels

This work deals with motion planning algorithms of an omni-directional mobile robot with active caster wheels. A typical problem occurred in the motion control of such omni-directional mobile robot, which has been identified through experimental experiences, is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. To cope with this problem, a motion planning algorithm which resolves the skidding problem and uncertain motions of the steering wheel is mainly investigated. For navigation of the mobile robot, the posture of the omni-directional mobile robot is initially calculated using the odometry information. Then, the accuracy of the mobile robot’s odometry is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through simulations and experimentation, the feasibility of proposed algorithms was verified.     

A survey of shadow algorithms

The various types of shadows are characterized. Most existing shadow algorithms are described, and their complexities, advantages, and shortcomings are discussed. Hard shadows, soft shadows, shadows of transparent objects, and shadows for complex modeling primitives are considered. For each type, shadow algorithms within various rendering techniques are examined. The aim is to provide readers with enough background and insight on the various methods to allow them to choose the algorithm best suited to their needs and to help identify the areas that need more research and point to possible solutions     

A review of motion planning algorithms for intelligent robots

Journal of Intelligent Manufacturing - Principles of typical motion planning algorithms are investigated and analyzed in this paper. These algorithms include traditional planning algorithms,...     

A new representation and associated algorithms for generalized planning

Constructing plans that can handle multiple problem instances is a longstanding open problem in AI. We present a framework for generalized planning that captures the notion of algorithm-like plans and unifies various approaches developed for addressing this problem. Using this framework, and building on the TVLA system for static analysis of programs, we develop a novel approach for computing generalizations of classical plans by identifying sequences of actions that will make measurable progress when placed in a loop. In a wide class of problems that we characterize formally in the paper, these methods allow us to find generalized plans with loops for solving problem instances of unbounded sizes and also to determine the correctness and applicability of the computed generalized plans. We demonstrate the scope and scalability of the proposed approach on a wide range of planning problems.     

A survey: algorithms simulating bee swarm intelligence

Swarm intelligence is an emerging area in the field of optimization and researchers have developed various algorithms by modeling the behaviors of different swarm of animals and insects such as ants, termites, bees, birds, fishes. In 1990s, Ant Colony Optimization based on ant swarm and Particle Swarm Optimization based on bird flocks and fish schools have been introduced and they have been applied to solve optimization problems in various areas within a time of two decade. However, the intelligent behaviors of bee swarm have inspired the researchers especially during the last decade to develop new algorithms. This work presents a survey of the algorithms described based on the intelligence in bee swarms and their applications.     

A survey of models and algorithms for emergency response logistics in electric distribution systems. Part II: Contingency planning level

This is the second part of a two-part survey of optimization models and solution algorithms for emergency response planning in electric distribution systems. The first part of the survey addresses reliability planning problems with fault considerations related to electric distribution operations. The aim of this second part is to provide a comprehensive survey of optimization models and solution methodologies for contingency planning problems related to electric distribution operations. These problems include the restoration of service, the sequencing of switching operations, the routing of repair vehicles, the scheduling of repair crews, and the assignment of crews to repair sites.     

Massively parallel algorithms for trace-driven cache simulations

Considers the use of massively parallel architectures to execute a trace-driven simulation of a single cache set. A method is presented for the least-recently-used (LRU) policy, which, regardless of the set size C, runs in time O(log N) using N processors on the EREW (exclusive read, exclusive write) parallel model. A simpler LRU simulation algorithm is given that runs in O(C log N) time using N/log N processors. We present timings of this algorithm's implementation on the MasPar MP-1, a machine with 16384 processors. A broad class of reference-based line replacement policies are considered, which includes LRU as well as the least-frequently-used (LFU) and random replacement policies. A simulation method is presented for any such policy that, on any trace of length N directed to a C line set, runs in O(C log N) time with high probability using N processors on the EREW model. The algorithms are simple, have very little space overhead, and are well suited for SIMD implementation     

Genetic algorithms: a survey

Genetic algorithms provide an alternative to traditional optimization techniques by using directed random searches to locate optimal solutions in complex landscapes. We introduce the art and science of genetic algorithms and survey current issues in GA theory and practice. We do not present a detailed study, instead, we offer a quick guide into the labyrinth of GA research. First, we draw the analogy between genetic algorithms and the search processes in nature. Then we describe the genetic algorithm that Holland introduced in 1975 and the workings of GAs. After a survey of techniques proposed as improvements to Holland's GA and of some radically different approaches, we survey the advances in GA theory related to modeling, dynamics, and deception     

Systolic algorithms for computational geometry problems — A survey

With the recent development of a rich variety of parallel computer architectures, much attention has been paid to the study of parallel computational geometry. In this paper we put the focus on systolic computational geometry algorithms among those algorithms being developed rapidly in recent years for the various kinds of parallel processors. Our paper gives a survey of recent studies on systolic computational geometry algorithms We show that most of the fundamental geometrical problems can be solved in linear-time by conventional one-dimensional systolic arrays proposed by Kung et al. This paper also includes many new results and some open problems for which we have no linear-time systolic algorithms.     

A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works.     

A survey on clustering algorithms for wireless sensor networks

The past few years have witnessed increased interest in the potential use of wireless sensor networks (WSNs) in applications such as disaster management, combat field reconnaissance, border protection and security surveillance. Sensors in these applications are expected to be remotely deployed in large numbers and to operate autonomously in unattended environments. To support scalability, nodes are often grouped into disjoint and mostly non-overlapping clusters. In this paper, we present a taxonomy and general classification of published clustering schemes. We survey different clustering algorithms for WSNs; highlighting their objectives, features, complexity, etc. We also compare of these clustering algorithms based on metrics such as convergence rate, cluster stability, cluster overlapping, location-awareness and support for node mobility.     

支持向量机的训练算法综述

支持向量机（SVM）是在统计学习理论基础上发展起来的新方法,其训练算法本质上是一个二次规划的求解问题.首先简要概述了SVM的基本原理,然后对SVM训练算法的国内外研究现状进行综述,重点分析SVM的缩减算法和具有线性收敛性质的算法,对这些算法的性能进行比较,并且对SVM的扩展算法也进行简单介绍.最后对该领域存在的问题和发展趋势进行了展望.     

On-line regression algorithms for learning mechanical models of robots: A survey

With the emergence of more challenging contexts for robotics, the mechanical design of robots is becoming more and more complex. Moreover, their missions often involve unforeseen physical interactions with the environment. To deal with these difficulties, endowing the controllers of the robots with the capability to learn a model of their kinematics and dynamics under changing circumstances is becoming mandatory. This emergent necessity has given rise to a significant amount of research in the Machine Learning community, generating algorithms that address more and more sophisticated on-line modeling questions. In this paper, we provide a survey of the corresponding literature with a focus on the methods rather than on the results. In particular, we provide a unified view of all recent algorithms that outlines their distinctive features and provides a framework for their combination. Finally, we give a prospective account of the evolution of the domain towards more challenging questions.     

Motion planning for a landmine-detection robot

This article describes a landmine-detection system that contains a landmine-detection mobile robot and a following mobile robot. In this system, the landmine-detection robot goes ahead, and uses a landmine detector and a GPS module to find a landmine, records the coordinates of its location, and transmits these coordinates to the following mobile robot via a wireless RF interface. The following robot can record the location and orientation of the landmine-detection robot and all the landmines in the region. The following robot moves close to the landmine, and programs a path to avoid obstacles and landmines automatically. The driving system of the landmine-detection mobile robot uses a microprocessor dsPIC 30F4011 as the core, and controls two DC servomotors to program the motion path. The user interface of the landmine-detection robot and the following robot uses Borland C₊₊ Builder language to receive the location data. In the experimental results, the landmine-detection robot records the location of landmines using a GPS module, and transmits the locations to the following robot via a wireless RF interface. The following robot avoids the landmines, and improves the safety of people or materials being carried through the landmine area.