Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Tracking the Temporal-Evolution of Supernova Bubbles in Numerical Simulations

The study of low-dimensional, noisy manifolds embedded in a higher dimensional space has been extremely useful in many applications, from the chemical analysis of multi-phase flows to simulations of galactic mergers. Building a probabilistic model of the manifolds has helped in describing their essential properties and how they vary in space. However, when the manifold is evolving through time, a joint spatio-temporal modelling is needed, in order to fully comprehend its nature. We propose a first-order Markovian process that propagates the spatial probabilistic model of a manifold at fixed time, to its adjacent temporal stages. The proposed methodology is demonstrated using a particle simulation of an interacting dwarf galaxy to describe the evolution of a cavity generated by a Supernov

Sensory and Consumer Research for a Sustainable Food System

This book is a compilation of articles published in the Special Issue “Sensory and Consumer Research for a Sustainable Food System” of the journal Foods. The compilation includes 18 original research articles, 2 review articles, and 1 editorial. The articles show how sensory and consumer research can contribute to the development of a sustainable food system

A Polyhedral Study of Mixed 0-1 Set

We consider a variant of the well-known single node fixed charge network flow set with constant capacities. This set arises from the relaxation of more general mixed integer sets such as lot-sizing problems with multiple suppliers. We provide a complete polyhedral characterization of the convex hull of the given set