Publication detail

A collection of robotics problems for benchmarking evolutionary computation methods

KŮDELA, J. JUŘÍČEK, M. PARÁK, R.

English title

A collection of robotics problems for benchmarking evolutionary computation methods

Type

conference paper

Language

en

Original abstract

The utilization of benchmarking techniques has a crucial role in the development of novel optimization algorithms, and also in performing comparisons between already existing methods. This is especially true in the field of evolutionary computation, where the theoretical performance of the method is difficult to analyze. For these benchmarking purposes, artificial (or synthetic) functions are currently the most widely used ones. In this paper, we present a collection of real-world robotics problems that can be used for benchmarking evolutionary computation methods. The proposed benchmark problems are a combination of inverse kinematics and path planning in robotics that can be parameterized. We conducted an extensive numerical investigation that encompassed solving 200 benchmark problems by seven selected metaheuristic algorithms. The results of this investigation showed that the proposed benchmark problems are quite difficult (multimodal and non-separable) and that they can be successfully used for differentiating and ranking various metaheuristics.

English abstract

The utilization of benchmarking techniques has a crucial role in the development of novel optimization algorithms, and also in performing comparisons between already existing methods. This is especially true in the field of evolutionary computation, where the theoretical performance of the method is difficult to analyze. For these benchmarking purposes, artificial (or synthetic) functions are currently the most widely used ones. In this paper, we present a collection of real-world robotics problems that can be used for benchmarking evolutionary computation methods. The proposed benchmark problems are a combination of inverse kinematics and path planning in robotics that can be parameterized. We conducted an extensive numerical investigation that encompassed solving 200 benchmark problems by seven selected metaheuristic algorithms. The results of this investigation showed that the proposed benchmark problems are quite difficult (multimodal and non-separable) and that they can be successfully used for differentiating and ranking various metaheuristics.

Keywords in English

Evolutionary computation; Metaheuristics; Benchmarking; Robotics

Released

09.04.2023

Publisher

Springer

Location

Cham

ISBN

978-3-031-30229-9

ISSN

0302-9743

Book

26th International Conference on Applications of Evolutionary Computation, EvoApplications 2023, held as part of EvoStar 2023

Volume

13989

Pages from–to

364 –379

Pages count

16

BIBTEX


@inproceedings{BUT183645,
  author="Jakub {Kůdela} and Martin {Juříček} and Roman {Parák},
  title="A collection of robotics problems for benchmarking evolutionary computation methods",
  booktitle="26th International Conference on Applications of Evolutionary Computation, EvoApplications 2023, held as part of EvoStar 2023",
  year="2023",
  volume="13989",
  month="April",
  pages="364 --379",
  publisher="Springer",
  address="Cham",
  isbn="978-3-031-30229-9",
  issn="0302-9743"
}