The optimization of the wire routing in an artificial skin for robots consists in selecting a subset of links between adjacent tactile sensors in order to connect them to a finite set of micro-controllers with a minimum cost. The problem has been modeled as a minimum cost Constrained Spanning Forest problem with solution-dependent costs on arcs. The problem is NP-hard. A MIP formulation is given and an Ant Colony Optimization (ACO) algorithm are given. This paper introduces several different alternative pheromone structures, whose effectiveness is evaluated through experimental tests performed on both real and synthetically generated instances.
Experimental analysis of different pheromone structures in an ant colony optimization algorithm in robotic skin design
ANGHINOLFI, DAVIDE;CANNATA, GIORGIO;MASTROGIOVANNI, FULVIO;NATTERO, CRISTIANO;PAOLUCCI, MASSIMO
2012-01-01
Abstract
The optimization of the wire routing in an artificial skin for robots consists in selecting a subset of links between adjacent tactile sensors in order to connect them to a finite set of micro-controllers with a minimum cost. The problem has been modeled as a minimum cost Constrained Spanning Forest problem with solution-dependent costs on arcs. The problem is NP-hard. A MIP formulation is given and an Ant Colony Optimization (ACO) algorithm are given. This paper introduces several different alternative pheromone structures, whose effectiveness is evaluated through experimental tests performed on both real and synthetically generated instances.
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