NDLI: The sequential optimization-constraint multi-objective problem and its applications for robust planning of robot paths

Content Provider	IEEE Xplore Digital Library
Author	Avigad, G. Deb, K.
Copyright Year	2007
Description	Author affiliation: Tel Aviv Univ., Tel-Aviv (Avigad, G.)
Abstract	In this paper a new approach to search for diverse solutions for a multi-objective problem is presented. Commonly, a search for solutions for a multi-objective problem, which is aimed at optimization, results in a set of Pareto optimal solutions. There are cases where more solutions should be also considered, nonetheless preserving the optimization inspiration. These solutions should not resemble the Pareto set, so as to provide diversity within the design space, and therefore they might not always be found by taking an epsilon-Pareto approach. With this motivation in mind, an already established method, which searches for diverse solutions, which are not all necessarily optimal, is herewith discussed and its shortages are highlighted. In contrast to the already established design method, the approach taken in this paper is to solve the multi-objective problem repeatedly, adding (automatically or interactively) at each run constraints, which are constructed, based on the obtained Pareto set. The motivation for the introduced approach comes from the need to generate a set of robot paths, which allow a mobile robot operator, flexibility in complying with different planning demands and a rapid response to a developing scenario. The methodology and the applicability of the approach are explained and demonstrated by utilizing multi-objective path planning problems.
Starting Page	2101
Ending Page	2108
File Size	313753
Page Count	8
File Format	PDF
ISBN	9781424413393
DOI	10.1109/CEC.2007.4424732
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-25
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Path planning Robots Evolutionary computation
Content Type	Text
Resource Type	Article

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