The problem of optimally routing the wiring in large-scale modular skins for robots is gaining much attention in the literature. Theoretically, the problem is NP-hard. On the basis of previous work [3], [37], we solve the skin wiring problem using an Ant Colony Optimization approach. In this Chapter, we address the problem of designing a good pheromone structure: we propose ve alternatives, which are validated using both real and articially generated problem instances.

Experimental evaluation of pheromone structures for ant colony optimization: application to the robot skin wiring problem

ANGHINOLFI, DAVIDE;CANNATA, GIORGIO;MASTROGIOVANNI, FULVIO;NATTERO, CRISTIANO;PAOLUCCI, MASSIMO
2013

Abstract

The problem of optimally routing the wiring in large-scale modular skins for robots is gaining much attention in the literature. Theoretically, the problem is NP-hard. On the basis of previous work [3], [37], we solve the skin wiring problem using an Ant Colony Optimization approach. In this Chapter, we address the problem of designing a good pheromone structure: we propose ve alternatives, which are validated using both real and articially generated problem instances.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/577930
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