Donald Sofge

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This paper presents a variation of the Euclidean Traveling Salesman Problem (TSP), the Multiple Traveling Salesman Problem (MTSP), and compares a variety of evolutionary computation algorithms and paradigms for solving it. Techniques implemented, analyzed, and discussed herein with regard to MTSP include use of a neighborhood attractor schema (a variation(More)
Real-world systems are often modeled by sampling sensor data taken during system operation. System states may not be all known or measurable, sensor data may be biased or noisy, and it is not often known which sensor data may be useful for predictive modeling. Neural network models generated from this data must therefore rely on how effectively the chosen(More)
Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in eversmaller packages on-board robots. These advances in hardware, however, do not automatically translate into better software for controlling complex robots. Evolutionary techniques hold the potential(More)
This paper describes the design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator. The purpose of the control system is to provide autonomous/teleoperative control of the serpentine robotic manipulator, as well as full robotic control during operation of the manipulator within an(More)
Cooperative coevolutionary architectures provide a framework for solving complex problems by decomposing them into constituent subproblems, solving the subproblems, and then reintegrating the solutions. This paper presents a blended cooperative coevolution model which offers advantages over traditional evolutionary algorithms and currently used cooperative(More)
We present two key components of a principled method for constructing modular, heterogeneous swarms. First, we generalize a well-known technique for representing swarm behaviors to extend the power of multiagent systems by specializing agents and their interactions. Second, a novel graph-based method is introduced for designing swarm-based behaviors for(More)
Effective collaboration between robots and humans requires the use of an efficient interface whereby a human can communicate and interact with a robot almost as efficiently as he/she would with another human. In this interaction the human may act as a supervisor and/or collaborator with the robot. Human-robot collaboration is facilitated by a number of(More)
Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade-flapping dynamics. This paper introduces an onboard, pressure-based flow measurement system developed for a small quadrotor(More)
One of the challenges in implementing a dynamically autonomous mobile robot is achieving a truly human-centric multimodal interface so that human operators can interact with the robot as naturally as they would with another human. Multiple artificial intelligence techniques may be integrated in a distributed computing system through use of an agent-based(More)