A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small...A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.展开更多
Physiological and functional traits, especially those related to behavior and whole-organism performance capacities, are subject to a variety of both parallel and opposing natural and sexual selection pressures. These...Physiological and functional traits, especially those related to behavior and whole-organism performance capacities, are subject to a variety of both parallel and opposing natural and sexual selection pressures. These selection pressures show considerable interspeciflc variation, shaping contemporary behavioral and functional diversity, but the form and intensity of selection on physiological and functional traits can also vary intraspecifically. The same suites of traits can experience quite different se- lection pressures, depending on the sex or age of a given individual, as well as the presence and nature of alternative reproductive strategies and tactics. These inter- and intra-locus genetic conflicts have potentially important consequences for the evolutionary trajectories of traits subject to them. Consequently, any intraspecific conflicts which could displace traits from their selective op- tima in certain classes of individuals relative to others are expected to result in selection for mechanisms to compensate for devia- tion from those optima. Such conflicts include interlocus sexual conflict, intralocus sexual conflict, and interacting phenotypes, as well as conflict within a sex. In this paper, we consider the evidence for, and implications of, such conflicts for physiological and functional traits in diverse taxa, including both vertebrates and invertebrates, and evaluate the various mechanisms, ranging from behavioral and mechanical to energetic and genetic, enabling compensation. We also discuss how pre- and post-mating conflicts, as well as interacting phenotypes, might affect the evolution of behavior and physiological and functional traits. Investigators that seek to understand the links among behavior, morphology, physiology, and function should consider such conflicts.展开更多
文摘A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.
文摘Physiological and functional traits, especially those related to behavior and whole-organism performance capacities, are subject to a variety of both parallel and opposing natural and sexual selection pressures. These selection pressures show considerable interspeciflc variation, shaping contemporary behavioral and functional diversity, but the form and intensity of selection on physiological and functional traits can also vary intraspecifically. The same suites of traits can experience quite different se- lection pressures, depending on the sex or age of a given individual, as well as the presence and nature of alternative reproductive strategies and tactics. These inter- and intra-locus genetic conflicts have potentially important consequences for the evolutionary trajectories of traits subject to them. Consequently, any intraspecific conflicts which could displace traits from their selective op- tima in certain classes of individuals relative to others are expected to result in selection for mechanisms to compensate for devia- tion from those optima. Such conflicts include interlocus sexual conflict, intralocus sexual conflict, and interacting phenotypes, as well as conflict within a sex. In this paper, we consider the evidence for, and implications of, such conflicts for physiological and functional traits in diverse taxa, including both vertebrates and invertebrates, and evaluate the various mechanisms, ranging from behavioral and mechanical to energetic and genetic, enabling compensation. We also discuss how pre- and post-mating conflicts, as well as interacting phenotypes, might affect the evolution of behavior and physiological and functional traits. Investigators that seek to understand the links among behavior, morphology, physiology, and function should consider such conflicts.
