Localization from semantic observations via the matrix permanent

Most approaches to robot localization rely on low-level geometric features such as points, lines, and planes. In this paper, we use object recognition to obtain semantic information from the robot’s sensors and consider the task of localizing the robot within a prior map of landmarks, which are annotated with semantic labels. As object recognition algorithms miss detections and produce false alarms, correct data association between the detections and the landmarks on the map is central to the semantic localization problem. Instead of the traditional vector-based representation, we propose a sensor model, which encodes the semantic observations via random finite sets and enables a unified treatment of missed detections, false alarms, and data association. Our second contribution is to reduce the problem of computing the likelihood of a set-valued observation to the problem of computing a matrix permanent. It is this crucial transformation that allows us to solve the semantic localization problem with a polynomial-time approximation to the set-based Bayes filter. Finally, we address the active semantic localization problem, in which the observer’s trajectory is planned in order to improve the accuracy and efficiency of the localization process. The performance of our approach is demonstrated in simulation and in real environments using deformable-part-model-based object detectors. Robust global localization from semantic observations is demonstrated for a mobile robot, for the Project Tango phone, and on the KITTI visual odometry dataset. Comparisons are made with the traditional lidar-based geometric Monte Carlo localization

Bayesian belief network model for the safety assessment of nuclear computer-based systems

The formalism of Bayesian Belief Networks (BBNs) is being increasingly applied to probabilistic modelling and decision problems in a widening variety of fields. This method provides the advantages of a formal probabilistic model, presented in an easily assimilated visual form, together with the ready availability of efficient computational methods and tools for exploring model consequences. Here we formulate one BBN model of a part of the safety assessment task for computer and software based nuclear systems important to safety. Our model is developed from the perspective of an independent safety assessor who is presented with the task of evaluating evidence from disparate sources: the requirement specification and verification documentation of the system licensee and of the system manufacturer; the previous reputation of the various participants in the design process; knowledge of commercial pressures;information about tools and resources used; and many other sources. Based on these multiple sources of evidence, the independent assessor is ultimately obliged to make a decision as to whether or not the system should be licensed for operation within a particular nuclear plant environment. Our BBN model is a contribution towards a formal model of this decision problem. We restrict attention to a part of this problem: the safety analysis of the Computer System Specification documentation. As with other BBN applications we see this modelling activity as having several potential benefits. It employs a rigorous formalism as a focus for examination, discussion, and criticism of arguments about safety. It obliges the modeller to be very explicit about assumptions concerning probabilistic dependencies, correlations, and causal relationships. It allows sensitivity analyses to be carried out. Ultimately we envisage this BBN, or some later development of it, forming part of a larger model, which might well take the form of a larger BBN model, covering all sources of evidence about pre-operational life-cycle stages. This could provide an integrated model of all aspects of the task of the independent assessor, leading up to the final judgement about system safety in a particular context. We expect to offer some results of this further work later in the DeVa project

Knowledge-Based Task Structure Planning for an Information Gathering Agent

An effective solution to model and apply planning domain knowledge for deliberation and action in probabilistic, agent-oriented control is presented. Specifically, the addition of a task structure planning component and supporting components to an agent-oriented architecture and agent implementation is described. For agent control in risky or uncertain environments, an approach and method of goal reduction to task plan sets and schedules of action is presented. Additionally, some issues related to component-wise, situation-dependent control of a task planning agent that schedules its tasks separately from planning them are motivated and discussed

Surrogate Models and Mixtures of Experts in Aerodynamic Performance Prediction for Mission Analysis

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/140436/1/6.2014-2301.pd

Research and applications: Artificial intelligence

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness

Feasibility of remote sensing for detecting thermal pollution. Part 1: Feasibility study. Part 2: Implementation plan

A feasibility study for the development of a three-dimensional generalized, predictive, analytical model involving remote sensing, in-situ measurements, and an active system to remotely measure turbidity is presented. An implementation plan for the development of the three-dimensional model and for the application of remote sensing of temperature and turbidity measurements is outlined