13,146 research outputs found
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search
In search applications, autonomous unmanned vehicles must be able to
efficiently reacquire and localize mobile targets that can remain out of view
for long periods of time in large spaces. As such, all available information
sources must be actively leveraged -- including imprecise but readily available
semantic observations provided by humans. To achieve this, this work develops
and validates a novel collaborative human-machine sensing solution for dynamic
target search. Our approach uses continuous partially observable Markov
decision process (CPOMDP) planning to generate vehicle trajectories that
optimally exploit imperfect detection data from onboard sensors, as well as
semantic natural language observations that can be specifically requested from
human sensors. The key innovation is a scalable hierarchical Gaussian mixture
model formulation for efficiently solving CPOMDPs with semantic observations in
continuous dynamic state spaces. The approach is demonstrated and validated
with a real human-robot team engaged in dynamic indoor target search and
capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference
(Cambridge, UK, July 2018
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems
Development of robust dynamical systems and networks such as autonomous
aircraft systems capable of accomplishing complex missions faces challenges due
to the dynamically evolving uncertainties coming from model uncertainties,
necessity to operate in a hostile cluttered urban environment, and the
distributed and dynamic nature of the communication and computation resources.
Model-based robust design is difficult because of the complexity of the hybrid
dynamic models including continuous vehicle dynamics, the discrete models of
computations and communications, and the size of the problem. We will overview
recent advances in methodology and tools to model, analyze, and design robust
autonomous aerospace systems operating in uncertain environment, with stress on
efficient uncertainty quantification and robust design using the case studies
of the mission including model-based target tracking and search, and trajectory
planning in uncertain urban environment. To show that the methodology is
generally applicable to uncertain dynamical systems, we will also show examples
of application of the new methods to efficient uncertainty quantification of
energy usage in buildings, and stability assessment of interconnected power
networks
Automated construction of a hierarchy of self-organized neural network classifiers
This paper documents an effort to design and implement a neural network-based, automatic classification system which dynamically constructs and trains a decision tree. The system is a combination of neural network and decision tree technology. The decision tree is constructed to partition a large classification problem into smaller problems. The neural network modules then solve these smaller problems. We used a variant of the Fuzzy ARTMAP neural network which can be trained much more quickly than traditional neural networks. The research extends the concept of self-organization from within the neural network to the overall structure of the dynamically constructed decision hierarchy. The primary advantage is avoidance of manual tedium and subjective bias in constructing decision hierarchies. Additionally, removing the need for manual construction of the hierarchy opens up a large class of potential classification applications. When tested on data from real-world images, the automatically generated hierarchies performed slightly better than an intuitive (handbuilt) hierarchy. Because the neural networks at the nodes of the decision hierarchy are solving smaller problems, generalization performance can really be improved if the number of features used to solve these problems is reduced. Algorithms for automatically selecting which features to use for each individual classification module were also implemented. We were able to achieve the same level of performance as in previous manual efforts, but in an efficient, automatic manner. The technology developed has great potential in a number of commercial areas, including data mining, pattern recognition, and intelligent interfaces for personal computer applications. Sample applications include: fraud detection, bankruptcy prediction, data mining agent, scalable object recognition system, email agent, resource librarian agent, and a decision aid agent
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