A4 Article in conference proceedings
Robot Base Disturbance Optimization with Compact Differential Evolution Light (2012)


Iacca, G., Caraffini, F., Neri, F., & Mininno, E. (2012). Robot Base Disturbance Optimization with Compact Differential Evolution Light. In C. Di Chio, A. Agapitos, S. Cagnoni, C. Cotta, F. Fernández de Vega, G. A. Di Caro, R. Drechsler, A. Ekárt, A. I. Esparcia-Alcázar, M. Farooq, W. Langdon, J. Merelo, M. Preuss, H. Richter, S. Silva, A. Simões, G. Squillero, E. Tarantino, A. Tettamanzi, J. Togelius, N. Urquhart, S. Uyar, & G. N. Yannakakis (Eds.), Applications of evolutionary computation : EvoApplications 2012 : EvoCOMNET, EvoCOMPLEX, EvoFIN, EvoGAMES, EvoHOT, EvoIASP, EvoNUM, EvoPAR, EvoRISK, EvoSTIM, and EvoSTOC, Málaga, Spain, April 11-13 2012 : proceedings (pp. 285-294). Springer. Lecture Notes in Computer Science, 7248. https://doi.org/10.1007/978-3-642-29178-4_29


JYU authors or editors


Publication details

All authors or editorsIacca, Giovanni; Caraffini, Fabio; Neri, Ferrante; Mininno, Ernesto

Parent publicationApplications of evolutionary computation : EvoApplications 2012 : EvoCOMNET, EvoCOMPLEX, EvoFIN, EvoGAMES, EvoHOT, EvoIASP, EvoNUM, EvoPAR, EvoRISK, EvoSTIM, and EvoSTOC, Málaga, Spain, April 11-13 2012 : proceedings

Parent publication editorsDi Chio, Cecilia; Agapitos, Alexandros; Cagnoni, Stefano; Cotta, Carlos; Fernández de Vega, Francisco; Di Caro, Gianni A.; Drechsler, Rolf; Ekárt, Anikó; Esparcia-Alcázar, Anna I.; Farooq, Muddassar; Langdon, W.B.; Merelo, J.J.; Preuss, Mike; Richter, Hendrik; Silva, Sara; Simões, Anabela; Squillero, Giovanni; Tarantino, Ernesto; Tettamanzi, Andrea ; Togelius, Julian; Urquhart, Neil; Uyar, Sima.; Yannakakis, Georgios N.

Place and date of conferenceMalaga, Espanja11.-13.4.2012

ISBN978-3-642-29177-7

eISBN978-3-642-29178-4

Journal or seriesLecture Notes in Computer Science

ISSN0302-9743

eISSN1611-3349

Publication year2012

Number in series7248

Pages range285-294

Number of pages in the book550

PublisherSpringer

Place of PublicationBerlin

Publication countryGermany

Publication languageEnglish

DOIhttps://doi.org/10.1007/978-3-642-29178-4_29

Publication open accessNot open

Publication channel open access


Abstract

Despite the constant growth of the computational power in consumer electronics, very simple hardware is still used in space applications. In order to obtain the highest possible reliability, in space systems limited-power but fully tested and certified hardware is used, thus reducing fault risks. Some space applications require the solution of an optimization problem, often plagued by real-time and memory constraints. In this paper, the disturbance to the base of a robotic arm mounted on a spacecraft is modeled, and it is used as a cost function for an online trajectory optimization process. In order to tackle this problem in a computationally efficient manner, addressing not only the memory saving necessities but also real-time requirements, we propose a novel compact algorithm, namely compact Differential Evolution light (cDElight). cDElight belongs to the class of Estimation of Distribution Algorithms (EDAs), which mimic the behavior of population-based algorithms by means of a probabilistic model of the population of candidate solutions. This model has a more limited memory footprint than the actual population. Compared to a selected set of memory-saving algorithms, cDElight is able to obtain the best results, despite a lower computational overhead.


Keywordsdifferential evolution

Free keywordsDistribution Algorithm; Space Robot; Memory Saving; Compact Algorithm; Exponential Crossover; Optimization


Contributing organizations


Ministry reportingYes

Reporting Year2012

JUFO rating1


Last updated on 2023-14-12 at 01:28