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Evolutionary Computation

Spring 2008, Vol. 16, No. 1, Pages 1-30
Posted Online April 3, 2008.
(doi:10.1162/evco.2008.16.1.1)
© 2008 by the Massachusetts Institute of Technology

Tracking Moving Optima Using Kalman-Based Predictions

Claudio Rossi

Departamento de Automatica, Ingeniería Electronica e Informatica Industrial, Universidad Politécnica de Madrid, Madrid, 28006, Spain.

Mohamed Abderrahim

Departamento de Ingeniería de Sistemas y Automatica, Universidad Carlos III de Madrid, Leganés (Madrid), 28911, Spain.

Julio César Díaz

Departamento de Ingeniería de Sistemas y Automatica, Universidad Carlos III de Madrid, Leganés (Madrid), 28911, Spain.

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The dynamic optimization problem concerns finding an optimum in a changing environment. In the field of evolutionary algorithms, this implies dealing with a time-changing fitness landscape. In this paper we compare different techniques for integrating motion information into an evolutionary algorithm, in the case it has to follow a time-changing optimum, under the assumption that the changes follow a nonrandom law. Such a law can be estimated in order to improve the optimum tracking capabilities of the algorithm. In particular, we will focus on first order dynamical laws to track moving objects. A vision-based tracking robotic application is used as testbed for experimental comparison.

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