Opposition-Based Learning: A New Scheme for Machine Intelligence
CIMCA '05 Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce Vol-1 (CIMCA-IAWTIC'06) - Volume 01
Advanced FPGA Design: Architecture, Implementation, and Optimization
Advanced FPGA Design: Architecture, Implementation, and Optimization
A review of particle swarm optimization. Part I: background and development
Natural Computing: an international journal
A Population-oriented Architecture for Particle Swarms
AHS '07 Proceedings of the Second NASA/ESA Conference on Adaptive Hardware and Systems
A Novel Opposition-Based Particle Swarm Optimization for Noisy Problems
ICNC '07 Proceedings of the Third International Conference on Natural Computation - Volume 03
Opposition versus randomness in soft computing techniques
Applied Soft Computing
Hardware-oriented Adaptation of a Particle Swarm Optimization Algorithm for Object Detection
DSD '08 Proceedings of the 2008 11th EUROMICRO Conference on Digital System Design Architectures, Methods and Tools
A survey of robot learning from demonstration
Robotics and Autonomous Systems
Resource efficient generators for the floating-point uniform and exponential distributions
ASAP '08 Proceedings of the 2008 International Conference on Application-Specific Systems, Architectures and Processors
Opposition based initialization in particle swarm optimization (O-PSO)
Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking Papers
A Novel Swarm Model With Quasi-oppositional Particle
IFITA '09 Proceedings of the 2009 International Forum on Information Technology and Applications - Volume 01
Hardware Architecture for Particle Swarm Optimization Using Floating-Point Arithmetic
ISDA '09 Proceedings of the 2009 Ninth International Conference on Intelligent Systems Design and Applications
Accelerating the performance of particle swarm optimization for embedded applications
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Parallel scalable hardware implementation of asynchronous discrete particle swarm optimization
Engineering Applications of Artificial Intelligence
Embedded Systems Design with Platform FPGAs: Principles and Practices
Embedded Systems Design with Platform FPGAs: Principles and Practices
RECONFIG '10 Proceedings of the 2010 International Conference on Reconfigurable Computing and FPGAs
Adaptive navigation for autonomous robots
Robotics and Autonomous Systems
Enhancing particle swarm optimization using generalized opposition-based learning
Information Sciences: an International Journal
A modular and efficient hardware architecture for particle swarm optimization algorithm
Microprocessors & Microsystems
FPGA implementation of a wavelet neural network with particle swarm optimization learning
Mathematical and Computer Modelling: An International Journal
Real-Time Neural Network Inversion on the SRC-6e Reconfigurable Computer
IEEE Transactions on Neural Networks
Neural identification of dynamic systems on FPGA with improved PSO learning
Applied Soft Computing
Hi-index | 0.00 |
Adaptation of mobile robot controllers commonly requires the computation of optimal points of operation. Specifically, for miniature mobile robots with serious computational limitations, that are typical of embedded systems, one of the main challenges is the adaptation of efficient computational methods in order to find solutions of complex optimization problems, which demand large execution times. This drawback compels the design of high-performance parallel optimization algorithms which must run over embedded system platforms. This paper describes how adequate hardware implementations of the Particle Swarm Optimization (PSO) algorithm can be useful for real time adaptation of mobile robot controllers. For achieving this, a new architecture is proposed, which is based on an FPGA implementation of the opposition-based learning (OBL) approach applied to the PSO (for short HPOPSO), and which explores the intrinsic parallelism of this algorithm in order to adjust the weights of a neural robot controller in real time according to desired behaviors. The proposed HPOPSO was applied to the learning-from-demonstration problem in which a teacher performs executions of the desired behavior. Effectiveness of the proposed architecture was demonstrated by numerical simulations and the feasibility of the adaptive behavior of the neural robot controller was confirmed for two obstacle avoidance case studies that were preserved when one or more failures on the distance sensors occur. The HPOPSO, which uses the OBL technique, improves the quality of the solutions in comparison with the standard PSO. Comparisons of the adaptation time between hardware and software approaches have demonstrated the suitability of the FPGA implementation of the proposed HPOPSO for attending specific requirements of embedded system applications.