Scan matching by cross-correlation and differential evolution

Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.Web of Science88art. no. 85

Coverage and Field Estimation on Bounded Domains by Diffusive Swarms

In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as independent control inputs. We analyze the diffusion-based control strategy using standard operator semigroup-theoretic arguments. We show that the diffusion coefficient can be chosen to be dependent only on the robots' local measurements to ensure that the swarm density converges to a function proportional to the scalar field. The boundedness of the domain precludes the need to impose assumptions on decaying properties of the scalar field at infinity. Moreover, exponential convergence of the swarm density to the equilibrium follows from properties of the spectrum of the semigroup generator. In addition, we use the proposed coverage method to construct a time-inhomogenous diffusion process and apply the observability of the heat equation to reconstruct the scalar field over the entire domain from observations of the robots' random motion over a small subset of the domain. We verify our results through simulations of the coverage scenario on a 2D domain and the field estimation scenario on a 1D domain.Comment: To appear in the proceedings of the 55th IEEE Conference on Decision and Control (CDC 2016

Informative Path Planning for Active Field Mapping under Localization Uncertainty

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the uncertainty on its inputs. For planning, we formulate a new utility function that couples the localization and field mapping objectives in GP-based mapping scenarios in a principled way, without relying on any manually tuned parameters. Extensive simulations show that our approach outperforms existing strategies, with reductions in mean pose uncertainty and map error. We also present a proof of concept in an indoor temperature mapping scenario.Comment: 8 pages, 7 figures, submission (revised) to Robotics & Automation Letters (and IEEE International Conference on Robotics and Automation

A computational method for the coupled solution of reaction–diffusion equations on evolving domains and manifolds: application to a model of cell migration and chemotaxis

In this paper, we devise a moving mesh finite element method for the approximate solution of coupled bulk–surface reaction–diffusion equations on an evolving two dimensional domain. Fundamental to the success of the method is the robust generation of bulk and surface meshes. For this purpose, we use a novel moving mesh partial differential equation (MMPDE) approach. The developed method is applied to model problems with known analytical solutions; these experiments indicate second-order spatial and temporal accuracy. Coupled bulk–surface problems occur frequently in many areas; in particular, in the modelling of eukaryotic cell migration and chemotaxis. We apply the method to a model of the two-way interaction of a migrating cell in a chemotactic field, where the bulk region corresponds to the extracellular region and the surface to the cell membrane

A multiphysics and multiscale software environment for modeling astrophysical systems

We present MUSE, a software framework for combining existing computational tools for different astrophysical domains into a single multiphysics, multiscale application. MUSE facilitates the coupling of existing codes written in different languages by providing inter-language tools and by specifying an interface between each module and the framework that represents a balance between generality and computational efficiency. This approach allows scientists to use combinations of codes to solve highly-coupled problems without the need to write new codes for other domains or significantly alter their existing codes. MUSE currently incorporates the domains of stellar dynamics, stellar evolution and stellar hydrodynamics for studying generalized stellar systems. We have now reached a "Noah's Ark" milestone, with (at least) two available numerical solvers for each domain. MUSE can treat multi-scale and multi-physics systems in which the time- and size-scales are well separated, like simulating the evolution of planetary systems, small stellar associations, dense stellar clusters, galaxies and galactic nuclei. In this paper we describe three examples calculated using MUSE: the merger of two galaxies, the merger of two evolving stars, and a hybrid N-body simulation. In addition, we demonstrate an implementation of MUSE on a distributed computer which may also include special-purpose hardware, such as GRAPEs or GPUs, to accelerate computations. The current MUSE code base is publicly available as open source at http://muse.liComment: 24 pages, To appear in New Astronomy Source code available at http://muse.l

Weak Form of Stokes-Dirac Structures and Geometric Discretization of Port-Hamiltonian Systems

We present the mixed Galerkin discretization of distributed parameter port-Hamiltonian systems. On the prototypical example of hyperbolic systems of two conservation laws in arbitrary spatial dimension, we derive the main contributions: (i) A weak formulation of the underlying geometric (Stokes-Dirac) structure with a segmented boundary according to the causality of the boundary ports. (ii) The geometric approximation of the Stokes-Dirac structure by a finite-dimensional Dirac structure is realized using a mixed Galerkin approach and power-preserving linear maps, which define minimal discrete power variables. (iii) With a consistent approximation of the Hamiltonian, we obtain finite-dimensional port-Hamiltonian state space models. By the degrees of freedom in the power-preserving maps, the resulting family of structure-preserving schemes allows for trade-offs between centered approximations and upwinding. We illustrate the method on the example of Whitney finite elements on a 2D simplicial triangulation and compare the eigenvalue approximation in 1D with a related approach.Comment: Copyright 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0

Isolating and Quantifying the Role of Developmental Noise in Generating Phenotypic Variation

Genotypic variation, environmental variation, and their interaction may produce variation in the developmental process and cause phenotypic differences among individuals. Developmental noise, which arises during development from stochasticity in cellular and molecular processes when genotype and environment are fixed, also contributes to phenotypic variation. While evolutionary biology has long focused on teasing apart the relative contribution of genes and environment to phenotypic variation, our understanding of the role of developmental noise has lagged due to technical difficulties in directly measuring the contribution of developmental noise. The influence of developmental noise is likely underestimated in studies of phenotypic variation due to intrinsic mechanisms within organisms that stabilize phenotypes and decrease variation. Since we are just beginning to appreciate the extent to which phenotypic variation due to stochasticity is potentially adaptive, the contribution of developmental noise to phenotypic variation must be separated and measured to fully understand its role in evolution. Here, we show that variation in the component of the developmental process corresponding to environmental and genetic factors (here treated together as a unit called the LALI-type) versus the contribution of developmental noise, can be distinguished for leopard gecko (Eublepharis macularius) head color patterns using mathematical simulations that model the role of random variation (corresponding to developmental noise) in patterning. Specifically, we modified the parameters of simulations corresponding to variation in the LALI-type to generate the full range of phenotypic variation in color pattern seen on the heads of eight leopard geckos. We observed that over the range of these parameters, variation in color pattern due to LALI-type variation exceeds that due to developmental noise in the studied gecko cohort. However, the effect of developmental noise on patterning is also substantial. Our approach addresses one of the major goals of evolutionary biology: to quantify the role of stochasticity in shaping phenotypic variation

Cloud computing resource scheduling and a survey of its evolutionary approaches

A disruptive technology fundamentally transforming the way that computing services are delivered, cloud computing offers information and communication technology users a new dimension of convenience of resources, as services via the Internet. Because cloud provides a finite pool of virtualized on-demand resources, optimally scheduling them has become an essential and rewarding topic, where a trend of using Evolutionary Computation (EC) algorithms is emerging rapidly. Through analyzing the cloud computing architecture, this survey first presents taxonomy at two levels of scheduling cloud resources. It then paints a landscape of the scheduling problem and solutions. According to the taxonomy, a comprehensive survey of state-of-the-art approaches is presented systematically. Looking forward, challenges and potential future research directions are investigated and invited, including real-time scheduling, adaptive dynamic scheduling, large-scale scheduling, multiobjective scheduling, and distributed and parallel scheduling. At the dawn of Industry 4.0, cloud computing scheduling for cyber-physical integration with the presence of big data is also discussed. Research in this area is only in its infancy, but with the rapid fusion of information and data technology, more exciting and agenda-setting topics are likely to emerge on the horizon