One of the major distinguishing features of the dynamic multiobjective optimization problems (DMOPs) is that optimization objectives will change over time, thus tracking the varying Pareto-optimal front becomes a challenge. One of the promising solutions is reusing “experiences” to construct a prediction model via statistical machine learning approaches. However, most existing methods neglect the nonindependent and identically distributed nature of data to construct the prediction model. In this paper, we propose an algorithmic framework, called transfer learning-based dynamic multiobjective evolutionary algorithm (EA), which integrates transfer learning and population-based EAs to solve the DMOPs. This approach exploits the transfer learning technique as a tool to generate an effective initial population pool via reusing past experience to speed up the evolutionary process, and at the same time any population-based multiobjective algorithms can benefit from this integration without any extensive modifications. To verify this idea, we incorporate the proposed approach into the development of three well-known EAs, nondominated sorting genetic algorithm II, multiobjective particle swarm optimization, and the regularity model-based multiobjective estimation of distribution algorithm. We employ 12 benchmark functions to test these algorithms as well as compare them with some chosen state-of-the-art designs. The experimental results confirm the effectiveness of the proposed design for DMOPs.
Bosman @cite_41 believed that the decision made at one point would affect the optima obtained in the future, so for the dynamic optimization problems, he proposed an algorithmical framework which integrated machine learning, statistic learning, and evolutionary computation, and this framework can effectively predict what the state of environment is going to be. In @cite_9 , the authors suggested that the state of an optimum should contain the location and the speed information, so the Kalman filter technique can be used to estimate the state of the system and the error. The authors proposed an EA to measure the state of the past optimum and then use the Kalman filter to obtain an estimated value of the optimum in the next time instance.
@cite_41 @cite_9
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A new sequential data assimilation method is discussed. It is based on forecasting the error statistics using Monte Carlo methods, a better alternative than solving the traditional and computationally extremely demanding approximate error covariance equation used in the extended Kalman filter. The unbounded error growth found in the extended Kalman filter, which is caused by an overly simplified closure in the error covariance equation, is completely eliminated. Open boundaries can be handled as long as the ocean model is well posed. Well-known numerical instabilities associated with the error covariance equation are avoided because storage and evolution of the error covariance matrix itself are not needed. The results are also better than what is provided by the extended Kalman filter since there is no closure problem and the quality of the forecast error statistics therefore improves. The method should be feasible also for more sophisticated primitive equation models. The computational load for reasonable accuracy is only a fraction of what is required for the extended Kalman filter and is given by the storage of, say, 100 model states for an ensemble size of 100 and thus CPU requirements of the order of the cost of 100 model integrations. The proposed method can therefore be used with realistic nonlinear ocean models on large domains on existing computers, and it is also well suited for parallel computers and clusters of workstations where each processor integrates a few members of the ensemble. In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors. We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of extended Kalman filter (EKF)-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation where the state vector comprises a sliding window of poses (the multi-state-constraint Kalman filter (MSCKF)) attains better accuracy, consistency, and computational efficiency than the simultaneous localization and mapping (SLAM) formulation of the EKF, in which the state vector contains the current pose and the features seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent, due to the way in which Jacobians are computed. Specifically, we show that the observability properties of the EKF's linearized system models do not match those of the underlying system, which causes the filters to underestimate the uncertainty in the state estimates. Based on our analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent estimation by (i) ensuring the correct observability properties of its linearized system model, and (ii) performing online estimation of the camera-to-inertial measurement unit (IMU) calibration parameters. This algorithm, which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even an iterative, sliding-window fixed-lag smoother, in both Monte Carlo simulations and real-world testing. This paper points out the flaws in using the extended Kalman filter (EKE) and introduces an improvement, the unscented Kalman filter (UKF), proposed by Julier and Uhlman (1997). A central and vital operation performed in the Kalman filter is the propagation of a Gaussian random variable (GRV) through the system dynamics. In the EKF the state distribution is approximated by a GRV, which is then propagated analytically through the first-order linearization of the nonlinear system. This can introduce large errors in the true posterior mean and covariance of the transformed GRV, which may lead to sub-optimal performance and sometimes divergence of the filter. The UKF addresses this problem by using a deterministic sampling approach. The state distribution is again approximated by a GRV, but is now represented using a minimal set of carefully chosen sample points. These sample points completely capture the true mean and covariance of the GRV, and when propagated through the true nonlinear system, captures the posterior mean and covariance accurately to the 3rd order (Taylor series expansion) for any nonlinearity. The EKF in contrast, only achieves first-order accuracy. Remarkably, the computational complexity of the UKF is the same order as that of the EKF. Julier and Uhlman demonstrated the substantial performance gains of the UKF in the context of state-estimation for nonlinear control. Machine learning problems were not considered. We extend the use of the UKF to a broader class of nonlinear estimation problems, including nonlinear system identification, training of neural networks, and dual estimation problems. In this paper, the algorithms are further developed and illustrated with a number of additional examples. htmlabstractIn this chapter we focus on the importance of the use of learning and anticipation in (online) dynamic optimization. To this end we point out an important source of problem-difficulty that has so far received significantly less attention than the traditional shifting of optima. Intuitively put, decisions taken now (i.e. setting the problem variables to certain values) may influence the score that can be obtained in the future. We indicate how such time-linkage can deceive an optimizer and cause it to find a suboptimal solution trajectory. We then propose a means to address time-linkage: predict the future (i.e. anticipation) by learning from the past. We formalize this means in an algorithmic framework and indicate why evolutionary algorithms (EAs) are specifically of interest in this framework. We have performed experiments with two benchmark problems that feature time-linkage. The results show, as a proof of principle, that in the presence of time-linkage EAs based on this framework can obtain better results than classic EAs that do not predict the future.