Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností

The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.Schopnost lokalizace a navigace je podmínkou autonomního provozu mobilních robotů. Předmětem této disertační práce jsou navigační metody se zaměřením na metodu pro simultánní lokalizaci a mapování (SLAM) mobilních robotů v šesti stupních volnosti (6DOF). Nedílnou součástí tohoto výzkumu byl vývoj platformy pro sběr 3D vzdálenostních dat s využitím kontinuálně naklápěného laserového řádkového scanneru. Tato platforma byla vyvinuta jako samostatný modul, aby mohla být umístěna na různé šasi mobilních robotů. Úkol lokalizace a mapování je ekvivalentní registraci více 3D obrazů do společného souřadného systému. Pro tyto účely byla vyvinuta metoda založená na algoritmu Iterative Closest Point Algorithm (ICP). Původně implementovaná verze navigační metody využívá ICP s akcelerací pomocí kd-stromů přičemž jsou zhodnoceny její kvalitativní a výkonnostní aspekty. Na základě této analýzy byly vyvinuty rozšíření původní metody založené na ICP. Jednou z hlavních modifikací je faktorizace registračního procesu, kdy tato faktorizace je založena na redukci dat: vytvoření 2D „leveled“ map (ve smyslu jednoúrovňových map) ze 3D vzdálenostních obrazů. Pro tuto redukci je technologicky i algoritmicky zajištěna invariantnost těchto map vůči třem stupňům volnosti. Tyto redukované mapy jsou registrovány pomocí ICP ve zbylých třech stupních volnosti, přičemž získaná transformace je aplikována na 3D data za účelem před-registrace 3D obrazů. Následně je provedena robustní 6DOF registrace. Rozšířená metoda je v disertační práci v popsána spolu se všemi podstatnými modifikacemi. Vyvinutá metoda byla otestována a zhodnocena s využitím skutečných 3D vzdálenostních dat naměřených v různých vnitřních prostředích. Jsou zhodnoceny přínosy faktorizace a jiných modifikací ve srovnání s původní jednofázovou 6DOF registrací, také jsou zmíněny nevýhody implementované metody a navrženy způsoby jejich řešení. Nakonec následuje návrh budoucího výzkumu a diskuse o možnostech dalšího rozvoje.

A parallel simulated annealing algorithm for standard cell placement on a hypercube computer

A parallel version of a simulated annealing algorithm is presented which is targeted to run on a hypercube computer. A strategy for mapping the cells in a two dimensional area of a chip onto processors in an n-dimensional hypercube is proposed such that both small and large distance moves can be applied. Two types of moves are allowed: cell exchanges and cell displacements. The computation of the cost function in parallel among all the processors in the hypercube is described along with a distributed data structure that needs to be stored in the hypercube to support parallel cost evaluation. A novel tree broadcasting strategy is used extensively in the algorithm for updating cell locations in the parallel environment. Studies on the performance of the algorithm on example industrial circuits show that it is faster and gives better final placement results than the uniprocessor simulated annealing algorithms. An improved uniprocessor algorithm is proposed which is based on the improved results obtained from parallelization of the simulated annealing algorithm

Differential Evolution for Multiobjective Portfolio Optimization

Financial portfolio optimization is a challenging problem. First, the problem is multiobjective (i.e.: minimize risk and maximize profit) and the objective functions are often multimodal and non smooth (e.g.: value at risk). Second, managers have often to face real-world constraints, which are typically non-linear. Hence, conventional optimization techniques, such as quadratic programming, cannot be used. Stochastic search heuristic can be an attractive alternative. In this paper, we propose a new multiobjective algorithm for portfolio optimization: DEMPO - Differential Evolution for Multiobjective Portfolio Optimization. The main advantage of this new algorithm is its generality, i.e., the ability to tackle a portfolio optimization task as it is, without simplifications. Our empirical results show the capability of our approach of obtaining highly accurate results in very reasonable runtime, in comparison with quadratic programming and another state-of-art search heuristic, the so-called NSGA II.Portfolio Optimization, Multiobjective, Real-world Constraints, Value at Risk, Expected Shortfall, Differential Evolution

The Word-Space Model: using distributional analysis to represent syntagmatic and paradigmatic relations between words in high-dimensional vector spaces

The word-space model is a computational model of word meaning that utilizes the distributional patterns of words collected over large text data to represent semantic similarity between words in terms of spatial proximity. The model has been used for over a decade, and has demonstrated its mettle in numerous experiments and applications. It is now on the verge of moving from research environments to practical deployment in commercial systems. Although extensively used and intensively investigated, our theoretical understanding of the word-space model remains unclear. The question this dissertation attempts to answer is: what kind of semantic information does the word-space model acquire and represent? The answer is derived through an identification and discussion of the three main theoretical cornerstones of the word-space model: the geometric metaphor of meaning, the distributional methodology, and the structuralist meaning theory. It is argued that the word-space model acquires and represents two different types of relations between words – syntagmatic and paradigmatic relations – depending on how the distributional patterns of words are used to accumulate word spaces. The difference between syntagmatic and paradigmatic word spaces is empirically demonstrated in a number of experiments, including comparisons with thesaurus entries, association norms, a synonym test, a list of antonym pairs, and a record of part-of-speech assignments.För att köpa boken skicka en beställning till [email protected]/ To order the book send an e-mail to [email protected]

10091 Abstracts Collection -- Data Structures

From February 28th to March 5th 2010, the Dagstuhl Seminar 10091 "Data Structures" was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. It brought together 45 international researchers to discuss recent developments concerning data structures in terms of research, but also in terms of new technologies that impact how data can be stored, updated, and retrieved. During the seminar a fair number of participants presented their current research and open problems where discussed. This document first briefly describes the seminar topics and then gives the abstracts of the presentations given during the seminar