LF-ACO: an effective formation path planning for multi-mobile robot.

Multi-robot path planning is a hot problem in the field of robotics. Compared with single-robot path planning, complex problems such as obstacle avoidance and mutual collaboration need to be considered. This paper proposes an efficient leader follower-ant colony optimization (LF-ACO) to solve the collaborative path planning problem. Firstly, a new Multi-factor heuristic functor is proposed, the distance factor heuristic function and the smoothing factor heuristic function. This improves the convergence speed of the algorithm and enhances the smoothness of the initial path. The leader-follower structure is reconstructed for the position constraint problem of multi-robots in a grid environment. Then, the pheromone of the leader ant and the follower ants are used in the pheromone update rule of the ACO to improve the search quality of the formation path. To improve the global search capability, a max-min ant strategy is used. Finally, the path is optimized by the turning point optimization algorithm and dynamic cut-point method to improve path quality further. The simulation and experimental results based on MATLAB and ROS show that the proposed method can successfully solve the path planning and formation problem.

A Clustering-Enhanced Memetic Algorithm for the Quadratic Minimum Spanning Tree Problem.

The quadratic minimum spanning tree problem (QMSTP) is a spanning tree optimization problem that considers the interaction cost between pairs of edges arising from a number of practical scenarios. This problem is NP-hard, and therefore there is not a known polynomial time approach to solve it. To find a close-to-optimal solution to the problem in a reasonable time, we present for the first time a clustering-enhanced memetic algorithm (CMA) that combines four components, i.e., (i) population initialization with clustering mechanism, (ii) a tabu-based nearby exploration phase to search nearby local optima in a restricted area, (iii) a three-parent combination operator to generate promising offspring solutions, and (iv) a mutation operator using Lévy distribution to prevent the population from premature. Computational experiments are carried on 36 benchmark instances from 3 standard sets, and the results show that the proposed algorithm is competitive with the state-of-the-art approaches. In particular, it reports improved upper bounds for the 25 most challenging instances with unproven optimal solutions, while matching the best-known results for all but 2 of the remaining instances. Additional analysis highlights the contribution of the clustering mechanism and combination operator to the performance of the algorithm.

Association of polymorphisms in translesion synthesis genes with prognosis of advanced non-small-cell lung cancer patients treated with platinum-based chemotherapy.

BACKGROUND AND OBJECTIVES: Translesion synthesis (TLS) polymerases enable cells to bypass or overcome DNA damage during DNA replication and contributes to genomic instability and cancer. Inhibition of the expression of TLS genes enhances the sensitivity of cancer cells to cisplatin. This study aimed to investigate the relationship between single nucleotide polymorphisms (SNPs) in the TLS genes and clinical outcome of advanced non-small-cell lung cancer (NSCLC) patients treated with platinum-based chemotherapy. METHODS: A total of 16 SNPs were genotyped and analyzed in 302 advanced NSCLC patients (discovery set), and the results were further validated in additional 428 NSCLC patients (validation set). RESULTS: Analyses revealed significant associations of two SNPs, rs3213801 and rs3792136, with overall survival, with the lowest combined P values of 0.003 and 0.016, respectively. These effects also remained in stratification analyses by clinical variables. Furthermore, the number of risk genotypes of the two SNPs showed a cumulative effect on overall survival (P = 0.03). CONCLUSIONS: Genetic polymorphisms in the TLS genes might serve as potential predictive biomarkers of prognosis of advanced NSCLC patients treated with platinum-based chemotherapy.