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Articles

Application and Experimental Validation of Pheromone Design in Ant Colony Optimization: the Problem of Robot Skin Wiring

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Figures & data

FIGURE 1 (a) A skin triangular module PCB, front and rear sides; (b) a patch of interconnected modules.

FIGURE 1 (a) A skin triangular module PCB, front and rear sides; (b) a patch of interconnected modules.

FIGURE 2 (a) An example of a graph representing a patch; (b) a possible solution to the associated skin wiring problem.

FIGURE 2 (a) An example of a graph representing a patch; (b) a possible solution to the associated skin wiring problem.

FIGURE 3 Candidate set generation.

FIGURE 3 Candidate set generation.

FIGURE 4 Two partial solutions for the same graph , where and .

FIGURE 4 Two partial solutions for the same graph , where and .

FIGURE 5 A direct edges structure, where (a) , and (b) , .

FIGURE 5 A direct edges structure, where (a) , and (b) , .

FIGURE 6 A cumulative edges structure, where (a) , , , and (b) , , .

FIGURE 6 A cumulative edges structure, where (a) , , , and (b) , , .

FIGURE 7 A direct pairs structure, where (a) , and (b) , .

FIGURE 7 A direct pairs structure, where (a) , and (b) , .

FIGURE 8 A cumulative pairs structure, where (a) , , , and (b) , .

FIGURE 8 A cumulative pairs structure, where (a) , , , and (b) , .

FIGURE 9 A naive clustering structure, where (a) , and (b) , .

FIGURE 9 A naive clustering structure, where (a) , and (b) , .

TABLE 1 Instances, Characteristics, and Computational Results, Datasets i and s

FIGURE 10 Algorithms’ scaling capabilities with size.

FIGURE 10 Algorithms’ scaling capabilities with size.

FIGURE 11 Average RPD% as a function of running time.

FIGURE 11 Average RPD% as a function of running time.

TABLE 2  Average Results for MSH and ACOs with 95% Confidence Intervals

FIGURE 12 Plot of the confidence intervals of .

FIGURE 12 Plot of the confidence intervals of Table 2.

TABLE 3  Multiple Comparison Test for Round 1

TABLE 4  RPD on Instances from Dataset t

TABLE 5  95% Confidence Intervals, t Dataset

FIGURE 13 95% confidence intervals for DE, CE, and DP, t dataset.

FIGURE 13 95% confidence intervals for DE, CE, and DP, t dataset.

TABLE 6  Multiple Comparison Test for Round 2

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