189 research outputs found

    The Application of Artificial Intelligence to Solve a Physical Puzzle

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    Thesis (M.A.) -- Indiana University South Bend, 2007.This thesis presents the design, development, and implementation of an intelligent agent capable of solving a physical puzzle. The puzzle is a three dimensional maze in which a marble must be moved from its starting point to a target cell in the opposite corner. The movement of the marble is strictly the result of movement of the maze itself, the marble's response to gravity, and collisions with the walls of the maze. The physical nature of the puzzle provides an interesting challenge for the intelligent agent attempting to solve it, since it does not have complete control over the effects of its actions, and is not able to predict with certainty what those effects will be. A software framework is developed to integrate the artificial intelligence, physics simulation, and computer graphics required to solve the puzzle. A control scheme is designed to enable the agent to perform the physical moves to be simulated. Several solution algorithms are developed and implemented, incorporating varying levels of knowledge of the maze's geometry and the physics involved. In general, it is shown that by increasing the 'intelligence' of the agent, the performance was significantly improved. This thesis is a unique integration of artificial intelligence, physics simulation, and computer graphics. The result is the graphical animation of the solution to a physical puzzle that could not be solved without each of the three technologies.Indiana University South Bend Department of Computer and Information Sciences and the Department of Mathematical Science

    Mobile Ad-Hoc Networks

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    Being infrastructure-less and without central administration control, wireless ad-hoc networking is playing a more and more important role in extending the coverage of traditional wireless infrastructure (cellular networks, wireless LAN, etc). This book includes state-of the-art techniques and solutions for wireless ad-hoc networks. It focuses on the following topics in ad-hoc networks: vehicular ad-hoc networks, security and caching, TCP in ad-hoc networks and emerging applications. It is targeted to provide network engineers and researchers with design guidelines for large scale wireless ad hoc networks

    Subject index volumes 1–92

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    Recent Developments on Mobile Ad-Hoc Networks and Vehicular Ad-Hoc Networks

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    This book presents collective works published in the recent Special Issue (SI) entitled "Recent Developments on Mobile Ad-Hoc Networks and Vehicular Ad-Hoc Networks”. These works expose the readership to the latest solutions and techniques for MANETs and VANETs. They cover interesting topics such as power-aware optimization solutions for MANETs, data dissemination in VANETs, adaptive multi-hop broadcast schemes for VANETs, multi-metric routing protocols for VANETs, and incentive mechanisms to encourage the distribution of information in VANETs. The book demonstrates pioneering work in these fields, investigates novel solutions and methods, and discusses future trends in these field

    Mapping and Real-Time Navigation With Application to Small UAS Urgent Landing

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    Small Unmanned Aircraft Systems (sUAS) operating in low-altitude airspace require flight near buildings and over people. Robust urgent landing capabilities including landing site selection are needed. However, conventional fixed-wing emergency landing sites such as open fields and empty roadways are rare in cities. This motivates our work to uniquely consider unoccupied flat rooftops as possible nearby landing sites. We propose novel methods to identify flat rooftop buildings, isolate their flat surfaces, and find touchdown points that maximize distance to obstacles. We model flat rooftop surfaces as polygons that capture their boundaries and possible obstructions on them. This thesis offers five specific contributions to support urgent rooftop landing. First, the Polylidar algorithm is developed which enables efficient non-convex polygon extraction with interior holes from 2D point sets. A key insight of this work is a novel boundary following method that contrasts computationally expensive geometric unions of triangles. Results from real-world and synthetic benchmarks show comparable accuracy and more than four times speedup compared to other state-of-the-art methods. Second, we extend polygon extraction from 2D to 3D data where polygons represent flat surfaces and interior holes representing obstacles. Our Polylidar3D algorithm transforms point clouds into a triangular mesh where dominant plane normals are identified and used to parallelize and regularize planar segmentation and polygon extraction. The result is a versatile and extremely fast algorithm for non-convex polygon extraction of 3D data. Third, we propose a framework for classifying roof shape (e.g., flat) within a city. We process satellite images, airborne LiDAR point clouds, and building outlines to generate both a satellite and depth image of each building. Convolutional neural networks are trained for each modality to extract high level features and sent to a random forest classifier for roof shape prediction. This research contributes the largest multi-city annotated dataset with over 4,500 rooftops used to train and test models. Our results show flat-like rooftops are identified with > 90% precision and recall. Fourth, we integrate Polylidar3D and our roof shape prediction model to extract flat rooftop surfaces from archived data sources. We uniquely identify optimal touchdown points for all landing sites. We model risk as an innovative combination of landing site and path risk metrics and conduct a multi-objective Pareto front analysis for sUAS urgent landing in cities. Our proposed emergency planning framework guarantees a risk-optimal landing site and flight plan is selected. Fifth, we verify a chosen rooftop landing site on real-time vertical approach with on-board LiDAR and camera sensors. Our method contributes an innovative fusion of semantic segmentation using neural networks with computational geometry that is robust to individual sensor and method failure. We construct a high-fidelity simulated city in the Unreal game engine with a statistically-accurate representation of rooftop obstacles. We show our method leads to greater than 4% improvement in accuracy for landing site identification compared to using LiDAR only. This work has broad impact for the safety of sUAS in cities as well as Urban Air Mobility (UAM). Our methods identify thousands of additional rooftop landing sites in cities which can provide safe landing zones in the event of emergencies. However, the maps we create are limited by the availability, accuracy, and resolution of archived data. Methods for quantifying data uncertainty or performing real-time map updates from a fleet of sUAS are left for future work.PHDRoboticsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/170026/1/jdcasta_1.pd

    Formulation, implementation considerations, and first performance evaluation of algorithmic solutions - D4.1

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    Deliverable D4.1 del projecte Europeu OneFIT (ICT-2009-257385)This deliverable contains a first version of the algorithmic solutions for enabling opportunistic networks. The presented algorithms cover the full range of identified management tasks: suitability, creation, QoS control, reconfiguration and forced terminations. Preliminary evaluations complement the proposed algorithms. Implementation considerations towards the practicality of the considered algorithms are also included.Preprin

    Formulations and identification of algorithmic solutions for enabling opportunistic networks - M4.1

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    Milestone M4.1 del projecte Europeu OneFIT (ICT-2009-257385).This document contains a detailed description of the algorithms to be implemented to manage the opportunistic networks. There are defined according to the functional and system architecture (WP2) to fulfil the technical challenges. These algorithms will implemented during the WP4.2 and validated during the WP4.3Postprint (published version
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