• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.341-342
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• 2008

GA(Genetic Algorithm)는 NP-Complete 도메인이나 NP-Hard 도메인 내의 문제들에 대해서 최적의 해를 찾기 위해서 많이 사용되어 지는 진화 컴퓨팅 방법 중 하나이다. 모바일 로봇 기술 중 경로계획은 NP-Complete 도메인 영역의 문제 중 하나로 이를 해결하기 위해서 Dijkstra 등의 그래프 이론을 이용한 연구가 많이 연구되었고 최근에는 GA등 진화 컴퓨팅 기법을 이용하여 최적의 경로를 찾는 연구가 많이 수행되고 있다. 그러나 모바일 로봇이 처리해야 될 공간 정보 크기가 증가함에 따라 기존 GA의 개체의 크기가 증가되어 게산 복잡도가 높아져 시간 지연등의 문제가 발생할 수 있다. 이는 모바일 로봇의 잠재적 오류로 발생될 수 있다. 공간 정보에는 동적이 장애물들이 예측 불허하게 나타 날 수 있는데 이것은 전역 경로 계획을 수립할 때 또한 반영되어야 된다. 본 논문에서는 k-means 클러스터링 기법을 이용하여 장애물 밀집도 및 거리 정보를 기반으로 공간정보를 k개의 군집 공간으로 재분류하여 이를 기반으로 N*M개의 그리드 개체 집단을 생성하여 최적 경로계획을 수립하는 GA를 제시한다.

• Journal of Korea Game Society
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• v.15 no.4
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• pp.157-168
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• 2015

The difficulty of the game is closely related to the fun of the game. However, it is not easy to determine the appropriate level of difficulty of the game. In most cases, human playtesting is required. But even so, it is still hard to quantitatively evaluate difficulty of the game. Thus, if we perform quantitative evaluation of the difficulty automatically it will be very helpful in game developments. In this paper, we use a path finding algorithm to evaluate difficulty of exploration in a game level. Exploration is a basic attribute in common video games and it represents the overall difficulty of the game level. We also optimize the proposed evaluation algorithm by using previous exploration histories when available area in an game level is dynamically expanded and the new search is required.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.598-601
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• 2017

소프트웨어 테스트는 시스템의 신뢰도를 판단하는 중요한 작업이지만, 많은 노력과 비용을 필요로 한다. 모델 기반 테스트는 이러한 비용을 줄이기 위한 방안으로써 제안되었다. 정형적 모델로부터 시스템의 실행 가능한 경로를 파악하고, 각 경로마다 입력 값을 생성하여 테스트를 수행한다. 이 때, 적절한 입력 값을 찾기 위해 메타-휴리스틱 기법을 사용하는데, 기존의 알고리즘은 목적 경로와 관련이 없는 변수까지 구분없이 고려하기 때문에 시스템이 복잡할수록 불필요한 연산이 많아지는 문제가 있다. 본 논문은 슬라이싱 기법과 우선순위 정책을 적용한 테스트 데이터 자동 생성 기법을 제안하며, 실험을 통해 기존의 방법보다 효과적으로 테스트 데이터를 생성함을 보인다.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10b
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• pp.304-307
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• 2006

현재 센서네트워크 분야는 여러 방면에서 이슈가 되고 있다. 해양 센서네크워크는 지상에서의 전파를 사용할 수 없으므로 음향(Acoustic)파를 사용한다. 일정거리만큼만 음파가 도달하는 환경에서 원하는 노드를 찾아가는 최적화 문제는 NP complete한 TSP 문제이다. 최적경로를 찾았을 경우 음파의 에너지 손실 또한 저전력으로 사용된다. 본 논문에서는 최적탐색기법인 유전자알고리즘을 사용하여 목적노드를 찾기위한 최적경로를 시뮬레이션 해 보았다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.2
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• pp.127-133
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• 2014

This paper proposes a determination method of waypoints to maximize the survivability of a UAV. Voronoi diagram which is used for the initial selection of waypoint candidates is the most widely used path planning technique to avoid the threat as far as possible when the location and strength of the threat are given. But if threat strength is different each other and flight path is constrained along with straight lines, Voronoi diagram has limitations in real applications. In this study, the initial waypoints obtained from Voronoi diagram are optimized considering the shape of each threat. Here, a waypoint is optimized while adjacent waypoints are fixed. By repeating this localized optimization until whole waypoints are converged, computation time for finding the best waypoints is greatly reduced.

• Journal of the Korea Society for Simulation
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• v.19 no.2
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• pp.91-98
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• 2010

Conventional path-finding has focused on finding short collision-free paths. However, as computer games become more sophisticated, it is required to take tactical information like ambush points or lines of enemy sight into account. One way to make this information have an effect on path-finding is to represent a heuristic function of a search algorithm as a weighted sum of tactics. In this paper we consider the problem of learning heuristic to optimize path-finding based on given tactical information. What is meant by learning is to produce a good weight vector for a heuristic function. Training examples for learning are given by a game level-designer and will be compared with search results in every search level to update weights. This paper proposes a learning algorithm integrated with search for tactical path-finding. The perceptron-like method for updating weights is described and a simulation tool for implementing these is presented. A level-designer can mark desired paths according to characters' properties in the heuristic learning tool and then it uses them as training examples to learn weights and shows traces of paths changing along with weight learning.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.493-498
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• 2004

A novel approach for path planning of a polygonal robot is presented. Traditional path planners perform extensive geometric searching to find the optimal path or to prove that there is no solution. The computation required to prove that there is no solution is equivalent to exhaustive search of the motion space, which is typically very expensive. Humans seems to use a set of several different path planning strategies to analyse the situation of the obstacles in the environment, and quickly recognize whether the path-planning problem is easy to solve, hard to solve or has no solution. This human path-planning strategies have motivated the development of the presented algorithm that combines qualitative shape reasoning and exhaustive geometric searching to speed up the path planning process. It has three planning stages consisting of identification of no-solution cases based on an enclosure test, a qualitative reasoning stage, and finally a complete search algorithm in case the previous two stages cannot determine of the existence of a solution path.

• Journal of KIISE:Software and Applications
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• v.34 no.4
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• pp.368-376
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• 2007

How to represent the search space is as important as which search algorithm to use for finding natural-looking paths for moving NPC (non-player character) in computer games. Recently, various state space representation methods which have been developed for computer games are being used while A* algorithm dominates as the preferred search algorithm. These representation methods show some drawbacks such as the size of state space is too large, there is no guarantee for optimality, the path found is not natural-looking, and the generation of nodes and links is not automatic by depending on a level designer. In this paper the requirements for natural-looking paths are introduced and to find paths satisfying these requirements, the use of the generalized visibility graphs which is the extended version of the visibility graph in Robotics is proposed.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.425-430
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• 2005

Many problems can be formulated in terms nf graphs and thus solved by graph-theoretic algorithms. This paper is concerned with finding paths between nodes over the distributed and overlapped graphs. The proposed method allows multiple agents to cooperate to find paths without merging the distributed graphs. For each graph there is a designated agent which is charged of providing path-finding service for hot graph and initiating the path-finding tasks of which path starts from the graph. The proposed method earlier on constructs an abstract graph so-called viewgraph for the distributed overlapped graphs and thus enables to extract the information about how to guide the path finding over the graphs. The viewgraph is shared by all agents which determine how to coordinate other agents for the purpose of finding paths. Each agent maintains the shortest path information among the nodes which are placed in different overlapped subgraphs of her graph. Once an agent is asked to get a path from a node on her graph to another node on another's graph, she directs other agents to provide the necessary information for finding paths.

• The KIPS Transactions:PartA
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• v.9A no.2
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• pp.171-180
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• 2002

The effective and accurate data flow problem analysis uses the dominator tree and DJ graphs. The data flow problem solving is to safely reduce the flow graph to the dominator tree. The flow graph replaces a parse tree and used to accurately reduce either reducible or irreducible flow graph to the dominator tree. In this paper, in order to utilize Tarian's path compress algorithm, the Top node finding algorithm is suggested and the existing delay reduction algorithm is improved using Path compression. The delayed reduction a1gorithm using path compression actually compresses the pathway of the dominator tree by hoisting the node while reducing to delay the DJ graph. Realty, the suggested algorithm had hoisted nodes in 22% and had compressed path in 20%. The compressed dominator tree makes it possible to analyze the effective data flow analysis and brings the improved effect for the complexity of code optimization process with the node hoisting effect of code optimization process.