Abstract. Embedded Cartesian Genetic Programming (ECGP) is an extension of Cartesian Genetic Programming (CGP) capable of acquiring, evolving and re-using partial solutions. In this paper, we apply for the first time CGP and ECGP to the ones-max and order-3 deceptive problems, which are normally

the underlying problem. Moreover, in solving multiobjective problems, designers may be interested in a set of Pareto-optimal points, instead of a single point. Since genetic algorithms(GAs) work with a population of points, it seems natural to use GAs in multiobjective optimization problems to capture a

When evolving genotypes, i.e. structures, with an evolutionary algorithm (EA), e.g. genetic programming (GP), genetic diversity, i.e. structural diversity, of each generation is a necessary condition for the fast detection of a high-fitness individual and for a fast adaptation of the population

This paper presents a new form of Genetic Programming called Cartesian Genetic Programming in which a program is represented as an indexed graph. The graph is encoded in the form of a linear string of integers. The inputs or terminal set and node outputs are numbered sequentially. The node

The paper describes a rank-based fitness assignment method for Multiple Objective Genetic Algorithms (MOGAs). Conventional niche formation methods are extended to this class of multimodal problems and theory for setting the niche size is presented. The fitness assignment method is then modified

The authors suggest that the most promising route to effective strategies for the prevention of adolescent alcohol and other drug problems is through a risk-focused approach. This approach requires the identification of risk factors for drug abuse, identification of methods by which risk factors

fields, including bioinformatics, communication theory, statistical physics, combinatorial optimization, signal and image processing, information retrieval and statistical machine learning. Many problems that arise in specific instances — including the key problems of computing marginals and modes

An important question in neuroevolution is how to gain an advantage from evolving neural network topologies along with weights. We present a method, NeuroEvolution of Augmenting Topologies (NEAT), which outperforms the best fixed-topology method on a challenging benchmark reinforcement learning task. We claim that the increased efficiency is due to (1) employing a principled method of crossover of different topologies, (2) protecting structural innovation using speciation, and (3) incrementally growing from minimal structure. We test this claim through a series of ablation studies that demonstrate that each component is necessary to the system as a whole and to each other. What results is significantly faster learning. NEAT is also an important contribution to GAs because it shows how it is possible for evolution to both optimize and complexify solutions simultaneously, offering the possibility of evolving increasingly complex solutions over generations, and strengthening the analogy with biological evolution.

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.

A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (=150 MIPS), after learning for relatively short periods of time (a few dozen seconds)