Evolving dynamic multiple-objective optimization problems with objective replacement

This paper studies the strategies for multi-objective optimization in a dynamic environment. In particular, we focus on problems with objective replacement, where some objectives may be replaced with new objectives during evolution. It is shown that the Pareto-optimal sets before and after the objective replacement share some common members. Based on this observation, we suggest the inheritance strategy. When objective replacement occurs, this strategy selects good chromosomes according to the new objective set from the solutions found before objective replacement, and then continues to optimize them via evolution for the new objective set. The experiment results showed that this strategy can help MOGAs achieve better performance than MOGAs without using the inheritance strategy, where the evolution is restarted when objective replacement occurs. More solutions with better quality are found during the same time span

Fast Reachable Set Approximations via State Decoupling Disturbances

With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis of safety-critical systems. In particular, the Hamilton-Jacobi (HJ) formulation of differential games provides a flexible way to compute the reachable set, which can characterize the set of states which lead to either desirable or undesirable configurations, depending on the application. While HJ reachability is applicable to many small practical systems, the curse of dimensionality prevents the direct application of HJ reachability to many larger systems. To address computation complexity issues, various efficient computation methods in the literature have been developed for approximating or exactly computing the solution to HJ partial differential equations, but only when the system dynamics are of specific forms. In this paper, we propose a flexible method to trade off optimality with computation complexity in HJ reachability analysis. To achieve this, we propose to simplify system dynamics by treating state variables as disturbances. We prove that the resulting approximation is conservative in the desired direction, and demonstrate our method using a four-dimensional plane model.Comment: in Proceedings of the IEE Conference on Decision and Control, 201