Algorithmic Design and Implementation of Unobtrusive Multistatic Serial LiDAR Image

To fully understand interactions between marine hydrokinetic (MHK) equipment and marine animals, a fast and effective monitoring system is required to capture relevant information whenever underwater animals appear. A new automated underwater imaging system composed of LiDAR (Light Detection and Ranging) imaging hardware and a scene understanding software module named Unobtrusive Multistatic Serial LiDAR Imager (UMSLI) to supervise the presence of animals near turbines. UMSLI integrates the front end LiDAR hardware and a series of software modules to achieve image preprocessing, detection, tracking, segmentation and classification in a hierarchical manner

Guided Policy Exploration for Markov Decision Processes using an Uncertainty-Based Value-of-Information Criterion

Reinforcement learning in environments with many action-state pairs is challenging. At issue is the number of episodes needed to thoroughly search the policy space. Most conventional heuristics address this search problem in a stochastic manner. This can leave large portions of the policy space unvisited during the early training stages. In this paper, we propose an uncertainty-based, information-theoretic approach for performing guided stochastic searches that more effectively cover the policy space. Our approach is based on the value of information, a criterion that provides the optimal trade-off between expected costs and the granularity of the search process. The value of information yields a stochastic routine for choosing actions during learning that can explore the policy space in a coarse to fine manner. We augment this criterion with a state-transition uncertainty factor, which guides the search process into previously unexplored regions of the policy space.Comment: IEEE Transactions on Neural Networks and Learning System