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 editors: Iacca, Giovanni; Caraffini, Fabio; Neri, Ferrante; Mininno, Ernesto
Parent publication: 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
Parent publication editors: Di 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 conference: Malaga, Espanja, 11.-13.4.2012
ISBN: 978-3-642-29177-7
eISBN: 978-3-642-29178-4
Journal or series: Lecture Notes in Computer Science
ISSN: 0302-9743
eISSN: 1611-3349
Publication year: 2012
Number in series: 7248
Pages range: 285-294
Number of pages in the book: 550
Publisher: Springer
Place of Publication: Berlin
Publication country: Germany
Publication language: English
DOI: https://doi.org/10.1007/978-3-642-29178-4_29
Publication open access: Not 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.
Keywords: differential evolution
Free keywords: Distribution Algorithm; Space Robot; Memory Saving; Compact Algorithm; Exponential Crossover; Optimization
Contributing organizations
Ministry reporting: Yes
Reporting Year: 2012
JUFO rating: 1