Mutual learning of multi-consciousness agents,including an ego for an autonomous vehicle

In this paper, we propose a multi-agent learning system for the control of an intelligent robot, based on a model of the human consciousnesses, including the ego. We pay attention to the intelligent learning processes of human beings. We try to give a robot a high learning ability by modeling the roles of the human consciousnesses, including the ego. In most ordinary methods, the instructions for learning are given from outside the system only. In the proposed method, the instructions are given not only from outside, but also from inside (from other agents in the system). Therefore, the robot can learn efficiently because it has more instructions than usual. The learning is also more flexible, since an agent learns by instructions from other agents while the learning agent and one of the instructing agents exchange roles according to changes in the environment. We experimentally verified that the proposed method is efficient by using an actual robot.     

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.

     

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.     

Generalized extreme learning machine acting on a metric space

Functional data learning is an extension of traditional data learning, that is, learning the data chosen from the Euclidean space ${\mathbb{R}^{n}}$ to a metric space. This paper focuses on the functional data learning with generalized single-hidden layer feedforward neural networks (GSLFNs) acting on some metric spaces. In addition, three learning algorithms, named Hilbert parallel overrelaxation backpropagation (H-PORBP) algorithm, ν-generalized support vector regression (ν-GSVR) and generalized extreme learning machine (G-ELM) are proposed to train the GSLFNs acting on some metric spaces. The experimental results on some metric spaces indicate that GELM with additive/RBF hidden-nodes has a faster learning speed, a better accuracy, and a better stability than HPORBP algorithm and ν-GSVR for training the functional data. The idea of GELM can be used to extend those improved extreme learning machines (ELMs) that act on the Euclidean space ${\mathbb{R}^{n}, }$ such as online sequential ELM, incremental ELM, pruning ELM and so on, to some metric spaces.     

Consensus reaching models of linguistic preference relations based on distance functions

In group decision making (GDM) using linguistic preference relations to obtain the maximum degree of agreement, it is desirable to develop a consensus process prior to the selection process. This paper proposes two consensus models with linguistic information to support the GDM consensus reaching process. Two different distance functions between linguistic preference relations are introduced to measure both individual consistency and group consensus. Based on these measures, the consensus reaching models are developed. The two models presented have the same concept that the expert whose preference is farthest from the group preference needs to update their opinion according to the group preference relation. In addition, the convergence of the models is proved. After achieving the predefined consensus level, each expert’s consistency indexes are still acceptable under the condition that the initial preference relations are of satisfactory consistency. Finally, an example is given to show the effectiveness of the models and to verify the theoretical results.     

MicroPort: A general simulation platform for seaport container terminals

Seaport container terminals are essential nodes in sea cargo transportation networks. As such, the operational efficiency of container terminals in handling containers passing through them plays a critical role in a globalized world economy. Many models and algorithms have been developed to address various decision problems in container terminals to help improve operational efficiency. These decision support tools are usually used separately for specific purposes. However, the problems they are trying to tackle are often interrelated. Therefore, in this regard, an evaluation tool which can capture as many operational conditions as possible for different decision problems is necessary. This paper introduces a general simulation platform, named MicroPort, which aims to provide an integrated and flexible modeling system for evaluating the operational capability and efficiency of different designs of seaport container terminals. The software structure of MicroPort comprises three programming layers: (1) the Functions layer; (2) the Applications layer; and (3) the Extensions layer. Different layers are bound by Application Programming Interfaces (APIs). Basic functions built in the Functions layer support the Applications layer in which major operation processes can be modeled by an agent-based method. External modules and decision support tools in the Extensions layer then use APIs to adjust the system to produce suitable simulation models for specific purposes.