- Hitz, G., Pomerleau, F., Colas, F. and Siegwart, R., 2015. Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel. International Journal of Robotics Research, 34(13), pp.1604-1621. [ www ] ( CMA-ES | Continuous Optimization )
- "For the optimization, we use the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) (Hansen, 2006). This sampling-based optimization routine does not require gradients and allows us to handle unfeasible parameter sets easily without explicitly defining constraints in the parameter space."
- Hansen N (2006) The CMA evolution strategy: A comparing review. In: Lozano JA, Larran˜aga P, Inza I and Bengoetxea E(eds) Towards a New Evolutionary Computation. New York: Springer, vol. 102, pp. 75–102.
- "For the optimization, we use the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) (Hansen, 2006). This sampling-based optimization routine does not require gradients and allows us to handle unfeasible parameter sets easily without explicitly defining constraints in the parameter space."