Stabilization of Nonholonomic System Using Evolutionary Strategies

2006 ◽  
Author(s):  
Hector Vargas ◽  
Vladimir Alexandrov ◽  
Vittorio Zanella
Keyword(s):  
Nonholonomic System ◽  
Evolutionary Strategies

scholarly journals Where we Come from and where to Go: Six Decades of Botanical Studies in the Mediterranean Wetlands, with Sardinia (Italy) as a Case Study

Wetlands ◽  
2021 ◽  
Vol 41 (6) ◽  
Author(s):  
Alba Cuena-Lombraña ◽  
Mauro Fois ◽  
Annalena Cogoni ◽  
Gianluigi Bacchetta
Keyword(s):  
Vascular Plants ◽  
Vascular Plant ◽  
Regional Scale ◽  
Temporary Ponds ◽  
Evolutionary Strategies ◽  
Plant Groups ◽  
Research Themes ◽  
The Mediterranean ◽  
Taxonomic Groups ◽  
Water Saturated

AbstractPlants are key elements of wetlands due to their evolutionary strategies for coping with life in a water-saturated environment, providing the basis for supporting nearly all wetland biota and habitat structure for other taxonomic groups. Sardinia, the second largest island of the Mediterranean Basin, hosts a great variety of wetlands, of which 16 are included in eight Ramsar sites. The 119 hydro- and hygrophilous vascular plant taxa from Sardinia represent the 42.6% and 37.9% of the number estimated for Italy and Europe, respectively. Moreover, around 30% of Sardinia’s bryological flora, which is made up of 498 taxa, is present in temporary ponds. An overview at regional scale considering algae is not available, to our knowledge, even though several specific studies have contributed to their knowledge. In order to find the most investigated research themes and wetland types, identify knowledge gaps and suggest recommendations for further research, we present a first attempt to outline the work that has been hitherto done on plants in lentic habitats in Sardinia. Three plant groups (algae, bryophytes and vascular plants), and five research themes (conservation, ecology, inventory, palaeobotany and taxonomy) were considered. After a literature review, we retained 202 papers published from 1960 to 2019. We found that studies on vascular plants, as plant group, were disproportionately more numerous, and inventories and ecology were the most investigated research themes. Although efforts have recently been made to fill these long-lasting gaps, there is a need for updating the existing information through innovative methods and integrative approaches.

scholarly journals Development of Multiple Behaviors in Evolving Robots

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 1
Author(s):  
Victor Massagué Respall ◽  
Stefano Nolfi
Keyword(s):  
Evolutionary Algorithms ◽  
State Of The Art ◽  
Evolutionary Robotics ◽  
The Other ◽  
Evolutionary Strategies ◽  
Multiple Behaviors ◽  
Pareto Fronts ◽  
Expected Fitness

We investigate whether standard evolutionary robotics methods can be extended to support the evolution of multiple behaviors by forcing the retention of variations that are adaptive with respect to all required behaviors. This is realized by selecting the individuals located in the first Pareto fronts of the multidimensional fitness space in the case of a standard evolutionary algorithms and by computing and using multiple gradients of the expected fitness in the case of a modern evolutionary strategies that move the population in the direction of the gradient of the fitness. The results collected on two extended versions of state-of-the-art benchmarking problems indicate that the latter method permits to evolve robots capable of producing the required multiple behaviors in the majority of the replications and produces significantly better results than all the other methods considered.

Motion Planning of a Nonholonomic Multibody System Using Genetic Algorithm

2003 ◽  
Author(s):  
Xin-Sheng Ge ◽  
Li-Qun Chen
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Nonholonomic System ◽  
Multibody System ◽  
Planning Problem ◽  
Control Approach ◽  
Velocity Constraints ◽  
Nonholonomic Motion Planning ◽  
Optimal Control Approach ◽  
Motion Planning Problem

The motion planning problem of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, we propose an optimal control approach for nonholonomic motion planning. The genetic algorithm is used to optimize the performance of motion planning to connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

scholarly journals Geometric tracking control for a nonholonomic system: a spherical robot

2016 ◽  
Vol 49 (18) ◽  
pp. 820-825 ◽  
Author(s):  
Sneha Gajbhiye ◽  
Ravi N. Banavar
Keyword(s):  
Tracking Control ◽  
Nonholonomic System ◽  
Spherical Robot ◽  
System A
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