Cartesian Genetic Programming for Synthesis of Control System for Group of Robots
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- @InProceedings{Diveev:2020:MED,
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author = "Askhat Diveev",
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booktitle = "2020 28th Mediterranean Conference on Control and
Automation (MED)",
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title = "Cartesian Genetic Programming for Synthesis of Control
System for Group of Robots",
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year = "2020",
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pages = "972--977",
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month = sep,
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keywords = "genetic algorithms, genetic programming, Cartesian
Genetic Programming, Robots, Optimal control, Aerospace
electronics, Collision avoidance, Mathematical model,
synthesis of control, evolutionary algorithm, group of
robots",
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DOI = "doi:10.1109/MED48518.2020.9183180",
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ISSN = "2473-3504",
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abstract = "A control problem for a group of robots is considered.
The robots have to move from given initial conditions
to terminal ones without collisions between themselves
and stationary obstacles. To solve the problem, the
optimal synthesized control method is used. According
to this method firstly the control system synthesis
problem for each robot is solved. As a result, the
control system stabilizes the robot relative to some
point in the state space. After that positions of these
stable equilibrium points in the state space for each
robot are found so that all robots can move from point
to point till the terminal positions without
collisions. For synthesis problem on the first stage
the Cartesian genetic programming is used. This method
of symbolic regression allows to find a mathematical
expression for control function in the form of special
code by a special genetic algorithm. It's shown, that
using the symbolic regression methods directly doesn't
allow to find a synthesized control function in a code
space, because this search space does not have
numerical measure for distance between two elements of
the space. So the Cartesian genetic programming was
modified and the principle of small variations of the
basic solution was included in it. A computational
example of controlling eight robots on the plane with
phase constraints is presented.",
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notes = "Also known as \cite{9183180}",
- }
Genetic Programming entries for
Askhat Diveev Ibraghimovich
Citations