Progress toward multi‐robot reconnaissance and the MAGIC 2010 competition

Tasks like search‐and‐rescue and urban reconnaissance benefit from large numbers of robots working together, but high levels of autonomy are needed to reduce operator requirements to practical levels. Reducing the reliance of such systems on human operators presents a number of technical challenges, including automatic task allocation, global state and map estimation, robot perception, path planning, communications, and human‐robot interfaces. This paper describes our 14‐robot team, which won the MAGIC 2010 competition. It was designed to perform urban reconnaissance missions. In the paper, we describe a variety of autonomous systems that require minimal human effort to control a large number of autonomously exploring robots. Maintaining a consistent global map, which is essential for autonomous planning and for giving humans situational awareness, required the development of fast loop‐closing, map optimization, and communications algorithms. Key to our approach was a decoupled centralized planning architecture that allowed individual robots to execute tasks myopically, but whose behavior was coordinated centrally. We will describe technical contributions throughout our system that played a significant role in its performance. We will also present results from our system both from the competition and from subsequent quantitative evaluations, pointing out areas in which the system performed well and where interesting research problems remain. © 2012 Wiley Periodicals, Inc.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/93532/1/21426_ftp.pd

Graphical model driven methods in adaptive system identification

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2016Identifying and tracking an unknown linear system from observations of its inputs and outputs is a problem at the heart of many different applications. Due to the complexity and rapid variability of modern systems, there is extensive interest in solving the problem with as little data and computation as possible. This thesis introduces the novel approach of reducing problem dimension by exploiting statistical structure on the input. By modeling the input to the system of interest as a graph-structured random process, it is shown that a large parameter identification problem can be reduced into several smaller pieces, making the overall problem considerably simpler. Algorithms that can leverage this property in order to either improve the performance or reduce the computational complexity of the estimation problem are developed. The first of these, termed the graphical expectation-maximization least squares (GEM-LS) algorithm, can utilize the reduced dimensional problems induced by the structure to improve the accuracy of the system identification problem in the low sample regime over conventional methods for linear learning with limited data, including regularized least squares methods. Next, a relaxation of the GEM-LS algorithm termed the relaxed approximate graph structured least squares (RAGS-LS) algorithm is obtained that exploits structure to perform highly efficient estimation. The RAGS-LS algorithm is then recast into a recursive framework termed the relaxed approximate graph structured recursive least squares (RAGSRLS) algorithm, which can be used to track time-varying linear systems with low complexity while achieving tracking performance comparable to much more computationally intensive methods. The performance of the algorithms developed in the thesis in applications such as channel identification, echo cancellation and adaptive equalization demonstrate that the gains admitted by the graph framework are realizable in practice. The methods have wide applicability, and in particular show promise as the estimation and adaptation algorithms for a new breed of fast, accurate underwater acoustic modems. The contributions of the thesis illustrate the power of graphical model structure in simplifying difficult learning problems, even when the target system is not directly structured.The work in this thesis was supported primarily by the Office of Naval Research through an ONR Special Research Award in Ocean Acoustics; and at various times by the National Science Foundation, the WHOI Academic Programs Office and the MIT Presidential Fellowship Program

Fast and Robust Automatic Segmentation Methods for MR Images of Injured and Cancerous Tissues

Magnetic Resonance Imaging: MRI) is a key medical imaging technology. Through in vivo soft tissue imaging, MRI allows clinicians and researchers to make diagnoses and evaluations that were previously possible only through biopsy or autopsy. However, analysis of MR images by domain experts can be time-consuming, complex, and subject to bias. The development of automatic segmentation techniques that make use of robust statistical methods allows for fast and unbiased analysis of MR images. In this dissertation, I propose segmentation methods that fall into two classes---(a) segmentation via optimization of a parametric boundary, and: b) segmentation via multistep, spatially constrained intensity classification. These two approaches are applicable in different segmentation scenarios. Parametric boundary segmentation is useful and necessary for segmentation of noisy images where the tissue of interest has predictable shape but poor boundary delineation, as in the case of lung with heavy or diffuse tumor. Spatially constrained intensity classification is appropriate for segmentation of noisy images with moderate contrast between tissue regions, where the areas of interest have unpredictable shapes, as is the case in spinal injury and brain tumor. The proposed automated segmentation techniques address the need for MR image analysis in three specific applications:: 1) preclinical rodent studies of primary and metastatic lung cancer: approach: a)),: 2) preclinical rodent studies of spinal cord lesion: approach: b)), and: 3) postclinical analysis of human brain cancer: approach: b)). In preclinical rodent studies of primary and metastatic lung cancer, respiratory-gated MRI is used to quantitatively measure lung-tumor burden and monitor the time-course progression of individual tumors. I validate a method for measuring tumor burden based upon average lung-image intensity. The method requires accurate lung segmentation; toward this end, I propose an automated lung segmentation method that works for varying tumor burden levels. The method includes development of a novel, two-dimensional parametric model of the mouse lungs and a multifaceted cost function to optimally fit the model parameters to each image. Results demonstrate a strong correlation: 0.93), comparable with that of fully manual expert segmentation, between the automated method\u27s tumor-burden metric and the tumor burden measured by lung weight. In preclinical rodent studies of spinal cord lesion, MRI is used to quantify tissues in control and injured mouse spinal cords. For this application, I propose a novel, multistep, multidimensional approach, utilizing the Classification Expectation Maximization: CEM) algorithm, for automatic segmentation of spinal cord tissues. In contrast to previous methods, my proposed method incorporates prior knowledge of cord geometry and the distinct information contained in the different MR images gathered. Unlike previous approaches, the algorithm is shown to remain accurate for whole spinal cord, white matter, and hemorrhage segmentation, even in the presence of significant injury. The results of the method are shown to be on par with expert manual segmentation. In postclinical analysis of human brain cancer, access to large collections of MRI data enables scientifically rigorous study of cancers like glioblastoma multiforme, the most common form of malignant primary brain tumor. For this application, I propose an efficient and effective automated segmentation method, the Enhanced Classification Expectation Maximization: ECEM) algorithm. The ECEM algorithm is novel in that it introduces spatial information directly into the classical CEM algorithm, which is otherwise spatially unaware, with low additional computational complexity. I compare the ECEM\u27s performance on simulated data to the standard finite Gaussian mixture EM algorithm, which is not spatially aware, and to the hidden-Markov random field EM algorithm, a commonly-used spatially aware automated segmentation method for MR brain images. I also show sample results demonstrating the ECEM algorithm\u27s ability to segment MR images of glioblastoma

Optimal path planning for detection and classification of underwater targets using sonar

2021 Spring.Includes bibliographical references.The work presented in this dissertation focuses on choosing an optimal path for performing sequential detection and classification state estimation to identify potential underwater targets using sonar imagery. The detection state estimation falls under the occupancy grid framework, modeling the relationship between occupancy state of grid cells and sensor measurements, and allows for the consideration of statistical dependence between the occupancy state of each grid cell in the map. This is in direct contrast to the classical formulations of occupancy grid frameworks, in which the occupancy state of each grid cell is considered statistically independent. The new method provides more accurate estimates, and occupancy grids estimated with this method typically converge with fewer measurements. The classification state estimation utilises a Dirichlet-Categorical model and a one-step classifier to perform efficient updating of the classification state estimate for each grid cell. To show the performance capabilities of the developed sequential state estimation methods, they are applied to sonar systems in littoral areas in which targets lay on the seafloor, could be proud, partially or fully buried. Additionally, a new approach to the active perception problem, which seeks to select a series of sensing actions that provide the maximal amount of information to the system, is developed. This new approach leverages the aforementioned sequential state estimation techniques to develop a set of information-theoretic cost functions that can be used for optimal sensing action selection. A path planning cost function is developed, defined as the mutual information between the aforementioned state variables before and after a measurement. The cost function is expressed in closed form by considering the prior and posterior distributions of the state variables. Choice of the optimal sensing actions is performed by modeling the path planning as a Markov decision problem, and solving it with the rollout algorithm. This work, supported by the Office of Naval Research (ONR), is intended to develop a suite of interactive sensing algorithms to autonomously command an autonomous underwater vehicle (AUV) for the task of detection and classification of underwater mines, while choosing an optimal navigation route that increases the quality of the detection and classification state estimates

Sensor Signal and Information Processing II

In the current age of information explosion, newly invented technological sensors and software are now tightly integrated with our everyday lives. Many sensor processing algorithms have incorporated some forms of computational intelligence as part of their core framework in problem solving. These algorithms have the capacity to generalize and discover knowledge for themselves and learn new information whenever unseen data are captured. The primary aim of sensor processing is to develop techniques to interpret, understand, and act on information contained in the data. The interest of this book is in developing intelligent signal processing in order to pave the way for smart sensors. This involves mathematical advancement of nonlinear signal processing theory and its applications that extend far beyond traditional techniques. It bridges the boundary between theory and application, developing novel theoretically inspired methodologies targeting both longstanding and emergent signal processing applications. The topic ranges from phishing detection to integration of terrestrial laser scanning, and from fault diagnosis to bio-inspiring filtering. The book will appeal to established practitioners, along with researchers and students in the emerging field of smart sensors processing