| 研究課題/領域番号 |
15K18095
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| 研究機関 | 早稲田大学 |
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研究代表者 |
Parque Victor 早稲田大学, 理工学術院, 講師 (50745221)
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| 研究期間 (年度) |
2015-04-01 – 2019-03-31
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| キーワード | succinctness / graph representation / path planning / control / computer-aided design / evolutionary computing |
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| 研究実績の概要 |
In 2017, the algorithmic foundations and application benchmarks for Genetic Counterfactual Programming (GCP) in computer-aided design and robotics were further developed: (1) computing succinct networks for a centralized graph in a polygonal map with convex and non-convex geometry, enabling the computation of efficient path planning and communication of multi-agent systems in cluttered environments; (2) the succinct representation of directed and undirected graphs with self-loops and its extensive evaluation which enlarges the scope and generalization ability of the conventional graph-representation schemes as well as realizes the succinct representation of graphs with self-loops via numbers; (3) the new methods for path bundling in bipartite networks using a compact encoding scheme, and its benchmarks with the state-of-the-art evolutionary computing algorithms through 7.5 billion shortest path computations, allowing the efficient coordination for the multi/compounded path planning of information, goods, and people; (4) the new method to avoid stagnation in evolutionary computing for control problems, which allows the efficient convergence towards the optimal solution, (5) the data-driven compounded path planning in which the need of computationally expensive controllers in trajectory following is completely avoided.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
1: 当初の計画以上に進展している
理由
The algorithmic foundations and application benchmarks for Genetic Counterfactual Programming in Design and Robotics problems were further developed.
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| 今後の研究の推進方策 |
In 2018, while deploying in real world systems, research on the applications of Genetic Counterfactual Programming are to be conducted: (1) Research on the structure of Genetic Counterfactual Programming, and (2) Research on the application of Genetic Counterfactual Programming in robot control and computer-aided design.
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| 次年度使用額が生じた理由 |
The reason for Incurring Amount to be Used Next Fiscal Year is as follows: the acquisition of a computer suitable for sophisticated numerical computations was postponed to the consecutive year, since the existing hardware at Waseda University satisfies the computational loads to current date.
It is expected that the amount to be used in the next fiscal year is split among the travel costs and registration fees of conferences during 2018, the costs for acquiring a computer suitable for sophisticated numerical computations, relevant books, and publishing at relevant journals venues.
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