A Comprehensive Review on Scatter Search: Techniques, Applications, and Challenges

Recent years have witnessed the use of metaheuristic algorithms to solve the optimization problems that usually require extensive computations and time. Among others, scatter search is the widely used evolutionary metaheuristic algorithm. It uses the information of global optima, which is stored in a different and unique set of solutions. In this paper, an updated review of scatter search (SS) is given. SS has been successfully applied in a variety of research problems, namely, data mining, bioinformatics, and engineering design. This paper presents the modified and hybrid versions of SS with their applications. The control strategies are discussed to show their impact on the performance of SS. various issues and future directions related to SS are also discussed. It inspires innovative researchers to use this algorithm for their research domains.

[1]  Wolfgang Ziegler,et al.  Swarm Intelligence From Natural To Artificial Systems , 2016 .

[2]  Ghaith M. Jaradat,et al.  Scatter search for solving the course timetabling problem , 2011, 2011 3rd Conference on Data Mining and Optimization (DMO).

[3]  Ahmed T. Sadiq,et al.  Improvement of scatter search using Bees Algorithm , 2012, 2012 6th International Conference on Signal Processing and Communication Systems.

[4]  Nashat Mansour,et al.  Scatter Search algorithm for Protein Structure Prediction , 2009, Int. J. Bioinform. Res. Appl..

[5]  Peter Greistorfer,et al.  A Tabu Scatter Search Metaheuristic for the Arc Routing Problem , 2002 .

[6]  T. Matsui,et al.  Improvement of input-output correlations of electric power load forecasting by scatter search , 2005, Proceedings of the 13th International Conference on, Intelligent Systems Application to Power Systems.

[7]  Barbara Webb,et al.  Swarm Intelligence: From Natural to Artificial Systems , 2002, Connect. Sci..

[8]  Sarah Ibri,et al.  Parallel Scatter Search Approach for the MinMax Regret Location Problem , 2018, Int. J. Appl. Metaheuristic Comput..

[9]  Xin-She Yang,et al.  Cuckoo Search via Lévy flights , 2009, 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC).

[10]  Wen-Chyuan Chiang,et al.  Scatter search for the vehicle routing problem with time windows , 2006, Eur. J. Oper. Res..

[11]  Abdel-Rahman Hedar,et al.  Hybrid scatter search for integer programming problems , 2014, 2014 9th International Conference on Informatics and Systems.

[12]  Xiaoliang Liu,et al.  Research on Vehicle Routing Problem with Soft Time Windows Based on Hybrid Tabu Search and Scatter Search Algorithm , 2020 .

[13]  Hossein Nezamabadi-pour,et al.  GSA: A Gravitational Search Algorithm , 2009, Inf. Sci..

[14]  Camino R. Vela,et al.  Scatter search with path relinking for the flexible job shop scheduling problem , 2015, Eur. J. Oper. Res..

[15]  Enrique Alba,et al.  New Ideas in Applying Scatter Search to Multiobjective Optimization , 2005, EMO.

[16]  Xiaoyu Song,et al.  BDD minimization by scatter search , 2002, IEEE Trans. Comput. Aided Des. Integr. Circuits Syst..

[17]  Francisco Herrera,et al.  Continuous scatter search: An analysis of the integration of some combination methods and improvement strategies , 2006, Eur. J. Oper. Res..

[18]  Joaquín Bautista,et al.  A scatter search based hyper-heuristic for sequencing a mixed-model assembly line , 2010, J. Heuristics.

[19]  Nurhadi Siswanto,et al.  A Hybrid Scatter Search Heuristic Algorithm for Solving Cockpit Crew Rostering , 2019 .

[20]  Xin-She Yang,et al.  A New Metaheuristic Bat-Inspired Algorithm , 2010, NICSO.

[21]  Viviana Cocco Mariani,et al.  Multiobjective scatter search approach with new combination scheme applied to solve environmental/economic dispatch problem , 2013 .

[22]  Alluru Gopala Krishna,et al.  Multi-objective optimisation of surface grinding operations using scatter search approach , 2006 .

[23]  David Henriques,et al.  MEIGO: an open-source software suite based on metaheuristics for global optimization in systems biology and bioinformatics , 2013, BMC Bioinformatics.

[24]  Mario Vanhoucke,et al.  New Computational Results for the Nurse Scheduling Problem: A Scatter Search Algorithm , 2006, EvoCOP.

[25]  Ricardo P. Beausoleil,et al.  "MOSS-II" Tabu/Scatter Search for Nonlinear Multiobjective Optimization , 2008, Advances in Metaheuristics for Hard Optimization.

[26]  Zhang Xiaoxia,et al.  A Hybrid Scatter Search Algorithm for QoS Multicast Routing Problem , 2018, 2018 Chinese Control And Decision Conference (CCDC).

[27]  Vicente Campos,et al.  Scatter Search vs. Genetic Algorithms , 2005 .

[28]  Alluru Gopala Krishna,et al.  Multi-objective optimisation of surface grinding operations using scatter search approach , 2006 .

[29]  Rafael Martí,et al.  Tabu and Scatter Search for Artificial Neural Networks , 2003 .

[30]  Chaoyong Zhang,et al.  Advanced scatter search approach and its application in a sequencing problem of mixed-model assembly lines in a case company , 2014 .

[31]  Richard A. Formato,et al.  CENTRAL FORCE OPTIMIZATION: A NEW META-HEURISTIC WITH APPLICATIONS IN APPLIED ELECTROMAGNETICS , 2007 .

[32]  John E. Beasley,et al.  Scatter Search and Bionomic Algorithms for the aircraft landing problem , 2005, Eur. J. Oper. Res..

[33]  Belén Melián-Batista,et al.  Parallelization of the scatter search for the p-median problem , 2003, Parallel Comput..

[34]  Li Cheng,et al.  A New Metaheuristic Bat-Inspired Algorithm , 2010 .

[35]  Rafael Martí,et al.  Experimental Testing of Advanced Scatter Search Designs for Global Optimization of Multimodal Functions , 2005, J. Glob. Optim..

[36]  F. Glover.  HEURISTICS FOR INTEGER PROGRAMMING USING SURROGATE CONSTRAINTS , 1977 .

[37]  Kun Li,et al.  A DE-Based Scatter Search for Global Optimization Problems , 2015 .

[38]  Julio R. Banga,et al.  Improved scatter search for the global optimization of computationally expensive dynamic models , 2009, J. Glob. Optim..

[39]  José Luis González Velarde,et al.  Grasp Embedded Scatter Search for the Multicommodity Capacitated Network Design Problem , 2005, J. Heuristics.

[40]  Farhad Soleimanian Gharehchopogh,et al.  A Novel Hybrid Approach for Email Spam Detection based on Scatter Search Algorithm and K-Nearest Neighbors , 2019 .

[41]  Juan M. Corchado,et al.  An enhanced scatter search with combined opposition-based learning for parameter estimation in large-scale kinetic models of biochemical systems , 2017, Eng. Appl. Artif. Intell..

[42]  Huseyin Hakli,et al.  An improved scatter search algorithm for the uncapacitated facility location problem , 2019, Comput. Ind. Eng..

[43]  Rong Qu,et al.  A hybrid scatter search meta-heuristic for delay-constrained multicast routing problems , 2010, Applied Intelligence.

[44]  D. Habiba,et al.  Scatter search for SAT and W-MAX-SAT problems , 2001, Proceedings of the 33rd Southeastern Symposium on System Theory (Cat. No.01EX460).

[45]  John R. Koza,et al.  Genetic programming as a means for programming computers by natural selection , 1994 .

[46]  Oscar Cordón,et al.  A fast and accurate approach for 3D image registration using the scatter search evolutionary algorithm , 2006, Pattern Recognit. Lett..

[47]  Camino R. Vela,et al.  An advanced scatter search algorithm for solving job shops with sequence dependent and non-anticipatory setups , 2015, AI Commun..

[48]  Muhammad Akmal bin Remli,et al.  An Improved Scatter Search Algorithm for Parameter Estimation in Large-Scale Kinetic Models of Biochemical Systems , 2019, Current Proteomics.

[49]  V. Cung,et al.  A scatter search based approach for the quadratic assignment problem , 1997, Proceedings of 1997 IEEE International Conference on Evolutionary Computation (ICEC '97).

[50]  Ivan Zelinka,et al.  Hybrid Differential Evolution - Scatter Search Algorithm for Permutative Optimization , 2009 .

[51]  Fei Yang,et al.  A scatter search optimization for ship consolidation plan for strip coils to reduce the number of shuffling , 2009, 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems.

[52]  Hiroyuki Mori,et al.  Transmission network expansion planning with Scatter Search , 2007, 2007 IEEE International Conference on Systems, Man and Cybernetics.

[53]  Oscar Cordón,et al.  Scatter Search for the Point-Matching Problem in 3D Image Registration , 2008, INFORMS J. Comput..

[54]  Xin Yao,et al.  Evolutionary programming made faster , 1999, IEEE Trans. Evol. Comput..

[55]  Jun Zhang,et al.  A Scatter Search for Multi-Depot Vehicle Routing Problem with Weight-Related Cost , 2011, Asia Pac. J. Oper. Res..

[56]  Consolación Gil,et al.  Implementation of scatter search for multi-objective optimization: a comparative study , 2009, Comput. Optim. Appl..

[57]  Yanhong Wang,et al.  Hybrid Scatter Search Algorithm for Optimal and Energy-Efficient Steelmaking-Continuous Casting , 2020, IEEE Transactions on Automation Science and Engineering.

[58]  Vijay Kumar,et al.  A Systematic Review on Firefly Algorithm: Past, Present, and Future , 2020, Archives of Computational Methods in Engineering.

[59]  Sura Mazin Ali,et al.  Improved scatter search algorithm based on meerkat clan algorithm to solve NP-hard problems , 2020 .

[60]  Juan-Luis François,et al.  Development of a Scatter Search Optimization Algorithm for Boiling Water Reactor Fuel Lattice Design , 2007 .

[61]  Fred W. Glover,et al.  Principles of scatter search , 2006, Eur. J. Oper. Res..

[62]  W. Art Chaovalitwongse,et al.  Scatter search for the stochastic travel-time vehicle routing problem with simultaneous pick-ups and deliveries , 2012, Comput. Oper. Res..

[63]  Ricardo P. Beausoleil,et al.  "MOSS" multiobjective scatter search applied to non-linear multiple criteria optimization , 2006, Eur. J. Oper. Res..

[64]  Ahmed T. Sadiq Al-Obaidi,et al.  Improved Scatter Search Using Cuckoo Search , 2013 .

[65]  Mario Vanhoucke,et al.  A Hybrid Scatter Search Heuristic for Personalized Crew Rostering in the Airline Industry , 2007 .

[66]  Habiba Drias,et al.  Scatter Search with Random Walk Strategy for SAT and MAX-W-SAT Problems , 2001, IEA/AIE.

[67]  José Antonio Lozano,et al.  Scatter Search in software testing, comparison and collaboration with Estimation of Distribution Algorithms , 2006, Eur. J. Oper. Res..

[68]  Ángel Corberán,et al.  Scatter search , 2003 .

[69]  T. Karthikeyan,et al.  Scheduling of Flexible Manufacturing System by Hybridizing Petri Net with Improved Scatter Search Algorithm , 2020 .

[70]  Carlos A. Coello Coello,et al.  A Multi-objective Particle Swarm Optimizer Hybridized with Scatter Search , 2006, MICAI.

[71]  H. Drias,et al.  Scatter Search and Graph Heuristics for the Examination Timetabling Problem , 2008 .

[72]  Julio R. Banga,et al.  Scatter search for chemical and bio-process optimization , 2007, J. Glob. Optim..

[73]  David L. Woodruff,et al.  Scatter Search to Generate Diverse MIP Solutions , 2000 .

[74]  Eugenia Díaz,et al.  A scatter search approach for automated branch coverage in software testing , 2007 .

[75]  Hassan Rezazadeh,et al.  A Rough Sets based modified Scatter Search algorithm for solving 0-1 Knapsack problem , 2015 .

[76]  José Luis González Velarde,et al.  A Scatter Search Algorithm for Solving a Bilevel Optimization Model for Determining Highway Tolls , 2015, Computación y Sistemas.

[77]  Belén Melián-Batista,et al.  Solving feature subset selection problem by a Parallel Scatter Search , 2006, Eur. J. Oper. Res..

[78]  Fred W. Glover,et al.  DNA Sequencing - Tabu and Scatter Search Combined , 2004, INFORMS J. Comput..

[79]  Jose A. Egea,et al.  Dynamic Optimization of Nonlinear Processes with an Enhanced Scatter Search Method , 2009 .

[80]  D. Moher,et al.  Preferred Reporting Items for Systematic Reviews and Meta-Analyses: The PRISMA Statement , 2009, BMJ : British Medical Journal.

[81]  Manuel Laguna,et al.  Assigning Proctors to Exams with Scatter Search , 2001 .

[82]  Boumedine Nabil,et al.  Protein structure prediction in the HP model using scatter search algorithm , 2020, 2020 4th International Symposium on Informatics and its Applications (ISIA).

[83]  Shouyang Wang,et al.  Scatter Search for Rough Set Attribute Reduction , 2007, 2009 International Joint Conference on Computational Sciences and Optimization.

[84]  Zhifeng Hao,et al.  Search-Based Algorithm With Scatter Search Strategy for Automated Test Case Generation of NLP Toolkit , 2021, IEEE Transactions on Emerging Topics in Computational Intelligence.

[85]  Rafael Martí,et al.  Handbook of Heuristics , 2018 .

[86]  Peter Greistorfer,et al.  Experimental pool design: input, output and combination strategies for scatter search , 2004 .

[87]  R. Venkata Rao,et al.  Teaching-Learning-Based Optimization: An optimization method for continuous non-linear large scale problems , 2012, Inf. Sci..

[88]  Rafael Martí,et al.  Scatter Search - Wellsprings and Challenges , 2006, Eur. J. Oper. Res..

[89]  Safa Adi,et al.  Parallel Scatter Search Algorithm for Feature Selection in High Dimensional Datasets , 2017 .

[90]  RemliMuhammad Akmal,et al.  An enhanced scatter search with combined opposition-based learning for parameter estimation in large-scale kinetic models of biochemical systems , 2017 .

[91]  Juan A. Nepomuceno,et al.  Biclustering of Gene Expression Data by Correlation-Based Scatter Search , 2011, BioData Mining.

[92]  Reza Tavakkoli-Moghaddam,et al.  A multi-objective scatter search for a mixed-model assembly line sequencing problem , 2007, Adv. Eng. Informatics.

[93]  C. Rego,et al.  A Scatter Search Algorithm for the Maximum Clique Problem , 2002 .

[94]  Dan Boneh,et al.  On genetic algorithms , 1995, COLT '95.

[95]  Ekrem Duman,et al.  Detecting credit card fraud by genetic algorithm and scatter search , 2011, Expert Syst. Appl..

[96]  David J. Fleet,et al.  Hamming Distance Metric Learning , 2012, NIPS.

[97]  F. Glover,et al.  Fundamentals of Scatter Search and Path Relinking , 2000 .

[98]  Rubén Ruiz,et al.  A scatter search algorithm for the distributed permutation flowshop scheduling problem , 2014, Eur. J. Oper. Res..

[99]  Mauro Dell'Amico,et al.  Heuristic Algorithms and Scatter Search for the Cardinality Constrained P||Cmax Problem , 2004, J. Heuristics.

[100]  P. Danielsson.  Euclidean distance mapping , 1980 .

[101]  Hugo Tsugunobu Yoshida Yoshizaki,et al.  Scatter search for a real-life heterogeneous fleet vehicle routing problem with time windows and split deliveries in Brazil , 2009, Eur. J. Oper. Res..

[102]  Fred W. Glover,et al.  A Template for Scatter Search and Path Relinking , 1997, Artificial Evolution.

[103]  Rainer Storn,et al.  Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces , 1997, J. Glob. Optim..

[104]  Shixin Liu,et al.  A Scatter Search Approach for Multiobjective Selective Disassembly Sequence Problem , 2014 .

[105]  Mu-Chen Chen,et al.  Applying neural network and scatter search to optimize parameter design with dynamic characteristics , 2005, J. Oper. Res. Soc..

[106]  Fred W. Glover,et al.  An Experimental Evaluation of a Scatter Search for the Linear Ordering Problem , 2001, J. Glob. Optim..

[107]  Miguel Gutierrez A.,et al.  A Comparison between Scatter Search and the RAND Method for Solving the Joint Replenishment Problem , 2006, 2006 Fifth Mexican International Conference on Artificial Intelligence.

[108]  Jaikishan T. Soman,et al.  A scatter search method for heterogeneous fleet vehicle routing problem with release dates under lateness dependent tardiness costs , 2020, Expert Syst. Appl..

[109]  John R. Koza,et al.  Genetic programming - on the programming of computers by means of natural selection , 1993, Complex adaptive systems.

[110]  R. Hariharan,et al.  Solving Flow Shop Scheduling Problems Using a Hybrid Genetic Scatter Search Algorithm , 2014 .

[111]  R. Beausoleil.  INTERACTIVE MULTIOBJECTIVE TABU / SCATTER SEARCH BASED ON REFERENCE POINT , 2014 .

[112]  Nashat Mansour,et al.  Parallel Scatter Search Algorithms for Exam Timetabling , 2011, Int. J. Appl. Metaheuristic Comput..

[113]  Yi Wang,et al.  An improved scatter search algorithm for the corridor allocation problem considering corridor width , 2019, Soft Computing.

[114]  Fred W. Glover,et al.  Scatter Search and Local Nlp Solvers: A Multistart Framework for Global Optimization , 2006, INFORMS J. Comput..

[115]  Enrique Alba,et al.  AbYSS: Adapting Scatter Search to Multiobjective Optimization , 2008, IEEE Transactions on Evolutionary Computation.

[116]  Dan Simon,et al.  Biogeography-Based Optimization , 2022 .

[117]  T. Sari,et al.  Evaluation of scatter search and genetic algorithm at resource constrained project scheduling problems , 2011, 2011 15th IEEE International Conference on Intelligent Engineering Systems.

[118]  Xinpeng Zhang,et al.  A multiobjective scatter search algorithm for fault-tolerant NoC mapping optimisation , 2014 .

[119]  Rafael Martí,et al.  Context-Independent Scatter and Tabu Search for Permutation Problems , 2005, INFORMS J. Comput..

[120]  Christian Blum,et al.  Metaheuristics in combinatorial optimization: Overview and conceptual comparison , 2003, CSUR.

[121]  Francisco Gortázar,et al.  Black box scatter search for general classes of binary optimization problems , 2010, Comput. Oper. Res..

[122]  Oscar Cordón,et al.  An advanced scatter search design for skull-face overlay in craniofacial superimposition , 2012, Expert Syst. Appl..

[123]  Nashat Mansour,et al.  Scatter search technique for exam timetabling , 2011, Applied Intelligence.

[124]  Hans-Paul Schwefel,et al.  Evolution strategies – A comprehensive introduction , 2002, Natural Computing.

[125]  Saïd Hanafi,et al.  Scatter Search for the 0–1 Multidimensional Knapsack Problem , 2008, J. Math. Model. Algorithms.

[126]  Vinícius Amaral Armentano,et al.  Scatter search for project scheduling with resource availability cost , 2006, Eur. J. Oper. Res..

[127]  Jalel Euchi,et al.  Genetic scatter search algorithm to solve the one-commodity pickup and delivery vehicle routing problem , 2017 .

[128]  Thanh-Phong Dao,et al.  A Systematic Review on Harmony Search Algorithm: Theory, Literature, and Applications , 2021 .

[129]  F. Glover.  Scatter search and star-paths: beyond the genetic metaphor , 1995 .

[130]  M. Laguna,et al.  Scatter search for the linear ordering problem , 1999 .

[131]  Zhe Cui,et al.  Scatter search based particle swarm optimization algorithm for earliness/tardiness flowshop scheduling with uncertainty , 2016, Int. J. Autom. Comput..

[132]  Riccardo Poli,et al.  Particle swarm optimization , 1995, Swarm Intelligence.

[133]  N. A. Ismail,et al.  A Hybrid Genetic Scatter Search Algorithm for Solving Optimization Problems , 2008 .

[134]  Rafael Caballero,et al.  SSPMO: A Scatter Tabu Search Procedure for Non-Linear Multiobjective Optimization , 2007, INFORMS J. Comput..

[135]  José Rui Figueira,et al.  A scatter search method for bi-criteria {0, 1}-knapsack problems , 2006, Eur. J. Oper. Res..

[136]  Jun Zhang,et al.  A scatter search algorithm for solving vehicle routing problem with loading cost , 2010, Expert Syst. Appl..

[137]  R. Vignesh,et al.  Scatter Search Optimization for Multi Node Machining Fixture Layout , 2014 .

[138]  José Luis González Velarde,et al.  Scatter Search for Network Design Problem , 2005, Ann. Oper. Res..

[139]  Kamalinder Kaur Kaleka,et al.  Spiral-Inspired Spotted Hyena Optimizer and Its Application to Constraint Engineering Problems , 2020, Wirel. Pers. Commun..

[140]  Manuel Laguna,et al.  Lessons from Applying and Experimenting with Scatter Search , 2005 .

[141]  Javier Tuya,et al.  Automated test data generation using a scatter search approach , 2009, Inf. Softw. Technol..

[142]  Michal Pluhacek,et al.  Scatter Search Algorithm with chaos based stochasticity , 2014, 2014 IEEE Congress on Evolutionary Computation (CEC).

[143]  Zong Woo Geem,et al.  A New Heuristic Optimization Algorithm: Harmony Search , 2001, Simul..

[144]  Manuel Laguna.  Scatter Search and Path Relinking , 2009, EMO.

[145]  Halit Üster,et al.  A scatter search-based heuristic to locate capacitated transshipment points , 2007, Comput. Oper. Res..

[146]  Manuel López-Ibáñez,et al.  Ant colony optimization , 2010, GECCO '10.

[147]  Jesús M. López-Lezama,et al.  A Scatter Search Heuristic for the Optimal Location, Sizing and Contract Pricing of Distributed Generation in Electric Distribution Systems , 2017 .

[148]  Ravi Kothari,et al.  Scatter search algorithms for the single row facility layout problem , 2012 .

[149]  Dinesh Kumar,et al.  Parameter adaptive harmony search algorithm for unimodal and multimodal optimization problems , 2014, J. Comput. Sci..

[150]  Belén Melián-Batista,et al.  Scatter search based met heuristic for robust optimization of the deploying of "DWDM" technology on optical networks with survivability , 2005 .

[151]  Matthias Prandtstetter,et al.  Metaheuristics for solving a multimodal home-healthcare scheduling problem , 2015, Central Eur. J. Oper. Res..

[152]  Hacene Belhadef,et al.  A scatter search algorithm to configure service function chaining , 2020 .

[153]  Ibrahim Eksin,et al.  A new optimization method: Big Bang-Big Crunch , 2006, Adv. Eng. Softw..

[154]  Belarmino Adenso-Díaz,et al.  A scatter search approach to the optimum disassembly sequence problem , 2006, Comput. Oper. Res..

[155]  Ramón Alvarez-Valdés,et al.  A scatter search algorithm for project scheduling under partially renewable resources , 2006, J. Heuristics.

[156]  D. Moher,et al.  Reprint--preferred reporting items for systematic reviews and meta-analyses: the PRISMA statement. , 2009, Physical therapy.

[157]  Bulent Soykan,et al.  A Hybrid Tabu/Scatter Search Algorithm for Simulation-Based Optimization of Multi-Objective Runway Operations Scheduling , 2016 .

[158]  Fred W. Glover,et al.  Tabu Search - Part I , 1989, INFORMS J. Comput..

[159]  Eugeniusz Nowicki,et al.  Some aspects of scatter search in the flow-shop problem , 2006, Eur. J. Oper. Res..

[160]  R. Tavakkoli-Moghaddam,et al.  A multi-objective scatter search for a bi-criteria no-wait flow shop scheduling problem , 2008 .

[161]  Julián Molina Luque,et al.  Multiobjective scatter search for a commercial territory design problem , 2012, Ann. Oper. Res..

[162]  Jian Ma,et al.  Rough set and scatter search metaheuristic based feature selection for credit scoring , 2012, Expert Syst. Appl..

[163]  D. Moher,et al.  Preferred reporting items for systematic reviews and meta-analyses: the PRISMA statement. , 2009, Journal of clinical epidemiology.

[164]  Jin-Kao Hao,et al.  Scatter Search for Graph Coloring , 2001, Artificial Evolution.

[165]  C. D. Gelatt,et al.  Optimization by Simulated Annealing , 1983, Science.

[166]  Oscar Cordón,et al.  A scatter search-based technique for pair-wise 3D range image registration in forensic anthropology , 2006, Soft Comput..