Non Parametric Distributed Inference in Sensor Networks Using Box Particles Messages

This paper deals with the problem of inference in distributed systems where the probability model is stored in a distributed fashion. Graphical models provide powerful tools for modeling this kind of problems. Inspired by the box particle filter which combines interval analysis with particle filtering to solve temporal inference problems, this paper introduces a belief propagation-like message-passing algorithm that uses bounded error methods to solve the inference problem defined on an arbitrary graphical model. We show the theoretic derivation of the novel algorithm and we test its performance on the problem of calibration in wireless sensor networks. That is the positioning of a number of randomly deployed sensors, according to some reference defined by a set of anchor nodes for which the positions are known a priori. The new algorithm, while achieving a better or similar performance, offers impressive reduction of the information circulating in the network and the needed computation times

Spectral analysis for long-term robotic mapping

This paper presents a new approach to mobile robot mapping in long-term scenarios. So far, the environment models used in mobile robotics have been tailored to capture static scenes and dealt with the environment changes by means of ‘memory decay’. While these models keep up with slowly changing environments, their utilization in dynamic, real world environments is difficult. The representation proposed in this paper models the environment’s spatio-temporal dynamics by its frequency spectrum. The spectral representation of the time domain allows to identify, analyse and remember regularly occurring environment processes in a computationally efficient way. Knowledge of the periodicity of the different environment processes constitutes the model predictive capabilities, which are especially useful for long-term mobile robotics scenarios. In the experiments presented, the proposed approach is applied to data collected by a mobile robot patrolling an indoor environment over a period of one week. Three scenarios are investigated, including intruder detection and 4D mapping. The results indicate that the proposed method allows to represent arbitrary timescales with constant (and low) memory requirements, achieving compression rates up to 106 . Moreover, the representation allows for prediction of future environment’s state with ∼ 90% precision

Evolutionary Algorithms for Reinforcement Learning

There are two distinct approaches to solving reinforcement learning problems, namely, searching in value function space and searching in policy space. Temporal difference methods and evolutionary algorithms are well-known examples of these approaches. Kaelbling, Littman and Moore recently provided an informative survey of temporal difference methods. This article focuses on the application of evolutionary algorithms to the reinforcement learning problem, emphasizing alternative policy representations, credit assignment methods, and problem-specific genetic operators. Strengths and weaknesses of the evolutionary approach to reinforcement learning are presented, along with a survey of representative applications

Hybrid Poisson and multi-Bernoulli filters

The probability hypothesis density (PHD) and multi-target multi-Bernoulli (MeMBer) filters are two leading algorithms that have emerged from random finite sets (RFS). In this paper we study a method which combines these two approaches. Our work is motivated by a sister paper, which proves that the full Bayes RFS filter naturally incorporates a Poisson component representing targets that have never been detected, and a linear combination of multi-Bernoulli components representing targets under track. Here we demonstrate the benefit (in speed of track initiation) that maintenance of a Poisson component of undetected targets provides. Subsequently, we propose a method of recycling, which projects Bernoulli components with a low probability of existence onto the Poisson component (as opposed to deleting them). We show that this allows us to achieve similar tracking performance using a fraction of the number of Bernoulli components (i.e., tracks).Comment: Submitted to 15th International Conference on Information Fusion (2012

A multi-resolution, non-parametric, Bayesian framework for identification of spatially-varying model parameters

This paper proposes a hierarchical, multi-resolution framework for the identification of model parameters and their spatially variability from noisy measurements of the response or output. Such parameters are frequently encountered in PDE-based models and correspond to quantities such as density or pressure fields, elasto-plastic moduli and internal variables in solid mechanics, conductivity fields in heat diffusion problems, permeability fields in fluid flow through porous media etc. The proposed model has all the advantages of traditional Bayesian formulations such as the ability to produce measures of confidence for the inferences made and providing not only predictive estimates but also quantitative measures of the predictive uncertainty. In contrast to existing approaches it utilizes a parsimonious, non-parametric formulation that favors sparse representations and whose complexity can be determined from the data. The proposed framework in non-intrusive and makes use of a sequence of forward solvers operating at various resolutions. As a result, inexpensive, coarse solvers are used to identify the most salient features of the unknown field(s) which are subsequently enriched by invoking solvers operating at finer resolutions. This leads to significant computational savings particularly in problems involving computationally demanding forward models but also improvements in accuracy. It is based on a novel, adaptive scheme based on Sequential Monte Carlo sampling which is embarrassingly parallelizable and circumvents issues with slow mixing encountered in Markov Chain Monte Carlo schemes

Technical Report: Cooperative Multi-Target Localization With Noisy Sensors

This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of searching for an unknown number of static targets within a known obstacle map using a team of mobile robots equipped with noisy, limited field-of-view sensors. Such sensors may fail to detect a subset of the visible targets or return false positive detections. These measurement sets are used to localize the targets using the Probability Hypothesis Density, or PHD, filter. Robots communicate with each other on a local peer-to-peer basis and with a server or the cloud via access points, exchanging measurements and poses to update their belief about the targets and plan future actions. The server provides a mechanism to collect and synthesize information from all robots and to share the global, albeit time-delayed, belief state to robots near access points. We design a decentralized control scheme that exploits this communication architecture and the PHD representation of the belief state. Specifically, robots move to maximize mutual information between the target set and measurements, both self-collected and those available by accessing the server, balancing local exploration with sharing knowledge across the team. Furthermore, robots coordinate their actions with other robots exploring the same local region of the environment.Comment: Extended version of paper accepted to 2013 IEEE International Conference on Robotics and Automation (ICRA