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Applications in Robotics
Inverse Kinematics Problem
Inverse Kinematics (IK) problem concerns finding such a configuration of an articulated robotic arm that satisfies certain constraints regarding its position and orientation. My interests focus on solving this problem in a constrained, dynamic case, i.e. guiding the arm in an arena containing moving obstacles. 
Benchmark I
Benchmark II Benchmark III Examples of arenas used for testing the algorithms in the paper A Predictive Evolutionary Algorithm for Dynamic Constrained Inverse Kinematics Problems (click to open a larger version) 
Infeasibility Driven Evolutionary Algorithm with the Anticipation Mechanism for the Reaching Goal in Dynamic Constrained Inverse Kinematics
The research presented in a paper at the GECCO 2015 Conference. Highlights of the paper:


Multiobjective Dynamic Constrained Evolutionary Algorithm for Control of a MultiSegment Articulated Manipulator
The research presented in a paper at the IDEAL 2014 Conference. Highlights of the paper:



A Predictive Evolutionary Algorithm for Dynamic Constrained Inverse Kinematics Problems
The research presented in a paper at the HAIS 2012 Conference. Highlights of the paper:


The calculation of the distance to the target taking into account the path around the obstacles (click to open a larger version).
δ_{1}^{L}, δ_{2}^{R} and δ_{3}^{L} are distances around the obstacles. d_{1}, d_{2}, d_{3} and d_{4} are distances along the straight line to the target. 