Abstract--The quest for the efficient adaptation of multilegged robotic systems to changing conditions is expected to render new insights into robotic control and locomotion. In this paper, we study the performance frontiers of the enumerative (factorial) encoding of hexapod gaits for fast recovery to conditions of leg failures. Our computational studies using five nature-inspired gradient-free optimization heuristics have shown that it is possible to render feasible recovery gait strategies that achieve minimal deviation to desired locomotion directives with a few evaluations (trials). For instance, it is possible to generate viable recovery gait strategies reaching 2.5 cm. Our results are the potential to enable efficient adaptation to new conditions and to explore further the canonical representations for adaptation in robotic locomotion problems.

ISTRIBUTED heuristics are a promising field for current and future energy systems control and optimization tasks, In [12] we showed that different communication topologies and have been designed and evaluated in recent years on have an effect on the performance of the reflected algorithm agent-based systems [1] [2] [3]. While conventional control class: Highly meshed topologies converged into good solutions systems - centralized or hierarchical in their control paradigm - reliably and quickly, but increased communication overhead and perfectly fit to centralized generation and transmission systems, premature convergence. In contrast, results for sparsely meshed distributed renewable energy systems show properties that topologies were much less reliable. In the application domain promote the application of distributed optimization systems: of energy systems as critical infrastructures, this behavior is First, future energy systems can be regarded as complex highly unwanted. We presume that dynamically adjusting the systems of systems, sometimes framed as cyber-physical multienergy topology during runtime leads to a beneficial transition of systems, coupling communication systems, power, heat exploration and exploitation of the search space for distributed and gas systems.

We develop an Evolutionary Markov Chain Monte Carlo (EMCMC) algorithm for sampling spatial partitions that lie within a large and complex spatial state space. Our algorithm combines the advantages of evolutionary algorithms (EAs) as optimization heuristics for state space traversal and the theoretical convergence properties of Markov Chain Monte Carlo algorithms for sampling from unknown distributions. Local optimality information that is identified via a directed search by our optimization heuristic is used to adaptively update a Markov chain in a promising direction within the framework of a Multiple-Try Metropolis Markov Chain model that incorporates a generalized Metropolis-Hasting ratio. We further expand the reach of our EMCMC algorithm by harnessing the computational power afforded by massively parallel architecture through the integration of a parallel EA framework that guides Markov chains running in parallel.

This paper presents two new formulations of multiple-instance learning as a maximum margin problem. The proposed extensions of the Support Vector Machine (SVM) learning approach lead to mixed integer quadratic programs that can be solved heuristically. Our generalization of SVMs makes a state-of-the-art classification technique, including nonlinear classification via kernels, available to an area that up to now has been largely dominated by special purpose methods. We present experimental results on a pharmaceutical data set and on applications in automated image indexing and document categorization.

This paper presents two new formulations of multiple-instance learning as a maximum margin problem. The proposed extensions of the Support Vector Machine (SVM) learning approach lead to mixed integer quadratic programs that can be solved heuristically. Our generalization of SVMs makes a state-of-the-art classification technique, including nonlinear classification via kernels, available to an area that up to now has been largely dominated by special purpose methods. We present experimental results on a pharmaceutical data set and on applications in automated image indexing and document categorization.

This paper presents two new formulations of multiple-instance learning as a maximum margin problem. The proposed extensions of the Support Vector Machine (SVM) learning approach lead to mixed integer quadratic programs that can be solved heuristically. Our generalization of SVMs makes a state-of-the-art classification technique, including nonlinear classification via kernels, available to an area that up to now has been largely dominated by special purpose methods. We present experimental results on a pharmaceutical dataset and on applications in automated image indexing and document categorization. 1 Introduction Multiple-instance learning (MIL) [4] is a generalization of supervised classification in which training class labels are associated with sets of patterns, or bags, instead of individual patterns. While every pattern may possess an associated true label, it is assumed that pattern labels are only indirectly accessible through labels attached to bags.