Abstract. The mallba project tackles the resolution of combinatorial optimization problems using algorithmic skeletons implemented in C ++ . mallba offers three families of generic resolution methods: exact, heuristic and hybrid. Moreover, for each resolution method, mallba provides three different implementations: sequential, parallel for local area networks, and parallel for wide area networks (currently under development). This paper shows the architecture of the mallba library, presents some of its skeletons and offers several computational results to show the viability of the approach.
The design of fuzzy controllers for the implementation of behaviors in mobile robotics is a complex and highly time-consuming task. The use of machine learning techniques such as evolutionary algorithms or artificial neural networks for the learning of these controllers allows to automate the design process. In this paper, the automated design of a fuzzy controller using genetic algorithms for the implementation of the wall-following behavior in a mobile robot is described. The algorithm is based on the iterative rule learning approach, and is characterized by three main points. First, learning has no restrictions neither in the number of membership functions, nor in their values. In the second place, the training set is composed of a set of examples uniformly distributed along the universe of discourse of the variables. This warrantees that the quality of the learned behavior does not depend on the environment, and also that the robot will be capable to face different situations. Finally, the trade off between the number of rules and the quality/accuracy of the controller can be adjusted selecting the value of a parameter. Once the knowledge base has been learned, a process for its reduction and tuning is applied, increasing the cooperation between rules and reducing its number.
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