73,705 research outputs found
Multi-target detection and recognition by UAVs using online POMDPs
This paper tackles high-level decision-making techniques for robotic missions, which involve both active sensing and symbolic goal reaching, under uncertain probabilistic environments and strong time constraints. Our case study is a POMDP model of an online multi-target detection and recognition mission by an autonomous UAV.The POMDP model of the multi-target detection and recognition problem is generated online from a list of areas of interest, which are automatically extracted at the beginning of the flight from a coarse-grained high altitude observation of the scene. The POMDP observation model relies on a statistical abstraction of an image processing algorithm's output used to detect targets. As the POMDP problem cannot be known and thus optimized before the beginning of the flight, our main contribution is an ``optimize-while-execute'' algorithmic framework: it drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints. We present new results from real outdoor flights and SAIL simulations, which highlight both the benefits of using POMDPs in multi-target detection and recognition missions, and of our`optimize-while-execute'' paradigm
Narrative based Postdictive Reasoning for Cognitive Robotics
Making sense of incomplete and conflicting narrative knowledge in the
presence of abnormalities, unobservable processes, and other real world
considerations is a challenge and crucial requirement for cognitive robotics
systems. An added challenge, even when suitably specialised action languages
and reasoning systems exist, is practical integration and application within
large-scale robot control frameworks.
In the backdrop of an autonomous wheelchair robot control task, we report on
application-driven work to realise postdiction triggered abnormality detection
and re-planning for real-time robot control: (a) Narrative-based knowledge
about the environment is obtained via a larger smart environment framework; and
(b) abnormalities are postdicted from stable-models of an answer-set program
corresponding to the robot's epistemic model. The overall reasoning is
performed in the context of an approximate epistemic action theory based
planner implemented via a translation to answer-set programming.Comment: Commonsense Reasoning Symposium, Ayia Napa, Cyprus, 201
On Designing Multicore-aware Simulators for Biological Systems
The stochastic simulation of biological systems is an increasingly popular
technique in bioinformatics. It often is an enlightening technique, which may
however result in being computational expensive. We discuss the main
opportunities to speed it up on multi-core platforms, which pose new challenges
for parallelisation techniques. These opportunities are developed in two
general families of solutions involving both the single simulation and a bulk
of independent simulations (either replicas of derived from parameter sweep).
Proposed solutions are tested on the parallelisation of the CWC simulator
(Calculus of Wrapped Compartments) that is carried out according to proposed
solutions by way of the FastFlow programming framework making possible fast
development and efficient execution on multi-cores.Comment: 19 pages + cover pag
Optimal, scalable forward models for computing gravity anomalies
We describe three approaches for computing a gravity signal from a density
anomaly. The first approach consists of the classical "summation" technique,
whilst the remaining two methods solve the Poisson problem for the
gravitational potential using either a Finite Element (FE) discretization
employing a multilevel preconditioner, or a Green's function evaluated with the
Fast Multipole Method (FMM). The methods utilizing the PDE formulation
described here differ from previously published approaches used in gravity
modeling in that they are optimal, implying that both the memory and
computational time required scale linearly with respect to the number of
unknowns in the potential field. Additionally, all of the implementations
presented here are developed such that the computations can be performed in a
massively parallel, distributed memory computing environment. Through numerical
experiments, we compare the methods on the basis of their discretization error,
CPU time and parallel scalability. We demonstrate the parallel scalability of
all these techniques by running forward models with up to voxels on
1000's of cores.Comment: 38 pages, 13 figures; accepted by Geophysical Journal Internationa
The 1990 progress report and future plans
This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers
Runtime Verification Based on Executable Models: On-the-Fly Matching of Timed Traces
Runtime verification is checking whether a system execution satisfies or
violates a given correctness property. A procedure that automatically, and
typically on the fly, verifies conformance of the system's behavior to the
specified property is called a monitor. Nowadays, a variety of formalisms are
used to express properties on observed behavior of computer systems, and a lot
of methods have been proposed to construct monitors. However, it is a frequent
situation when advanced formalisms and methods are not needed, because an
executable model of the system is available. The original purpose and structure
of the model are out of importance; rather what is required is that the system
and its model have similar sets of interfaces. In this case, monitoring is
carried out as follows. Two "black boxes", the system and its reference model,
are executed in parallel and stimulated with the same input sequences; the
monitor dynamically captures their output traces and tries to match them. The
main problem is that a model is usually more abstract than the real system,
both in terms of functionality and timing. Therefore, trace-to-trace matching
is not straightforward and allows the system to produce events in different
order or even miss some of them. The paper studies on-the-fly conformance
relations for timed systems (i.e., systems whose inputs and outputs are
distributed along the time axis). It also suggests a practice-oriented
methodology for creating and configuring monitors for timed systems based on
executable models. The methodology has been successfully applied to a number of
industrial projects of simulation-based hardware verification.Comment: In Proceedings MBT 2013, arXiv:1303.037
- …