Learning to represent surroundings, anticipate motion and take informed actions in unstructured environments

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates robotics methods which learn from experience, rather than follow a pre-defined set of rules. In this thesis, we present a range of learning-based methods aimed at enabling robots, operating in dynamic and unstructured environments, to better understand their surroundings, anticipate the actions of others, and take informed actions accordingly

Patterns of historical and future urban expansion in Nepal

Globally, urbanization is increasing at an unprecedented rate at the cost of agricultural and forested lands in peri-urban areas fringing larger cities. Such land-cover change generally entails negative implications for societal and environmental sustainability, particularly in South Asia, where high demographic growth and poor land-use planning combine. Analyzing historical land-use change and predicting the future trends concerning urban expansion may support more effective land-use planning and sustainable outcomes. For Nepal's Tarai region-a populous area experiencing land-use change due to urbanization and other factors-we draw on Landsat satellite imagery to analyze historical land-use change focusing on urban expansion during 1989-2016 and predict urban expansion by 2026 and 2036 using artificial neural network (ANN) and Markov chain (MC) spatial models based on historical trends. Urban cover quadrupled since 1989, expanding by 256 km2 (460%), largely as small scattered settlements. This expansion was almost entirely at the expense of agricultural conversion (249 km2). After 2016, urban expansion is predicted to increase linearly by a further 199 km2 by 2026 and by another 165 km2 by 2036, almost all at the expense of agricultural cover. Such unplanned loss of prime agricultural lands in Nepal's fertile Tarai region is of serious concern for food-insecure countries like Nepal

Incentive Mechanisms for Participatory Sensing: Survey and Research Challenges

Participatory sensing is a powerful paradigm which takes advantage of smartphones to collect and analyze data beyond the scale of what was previously possible. Given that participatory sensing systems rely completely on the users' willingness to submit up-to-date and accurate information, it is paramount to effectively incentivize users' active and reliable participation. In this paper, we survey existing literature on incentive mechanisms for participatory sensing systems. In particular, we present a taxonomy of existing incentive mechanisms for participatory sensing systems, which are subsequently discussed in depth by comparing and contrasting different approaches. Finally, we discuss an agenda of open research challenges in incentivizing users in participatory sensing.Comment: Updated version, 4/25/201

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

Automatic Decomposition of Geodetic Time Series for Studies of Ground Deformation

Geodetic measurements of surface deformation have been used for several decades to study how the Earth's surface responds to a wide range of geophysical processes. Geodetic time series acquired over a finite spatial extent can be used to quantify the time dependence of surface strain for a wide range of spatial and temporal scales. In this thesis, we present a new method for automatically decomposing geodetic time series into temporal components corresponding to different geophysical processes. This method relies on constructing an overcomplete temporal dictionary of reference functions such that any geodetic signal can be described by a linear combination of the functions in the dictionary. By solving a linear least squares problem with sparsity-inducing regularization, we can limit the total number of dictionary elements needed to reconstruct a signal. In Chapter 2, we present the development of this method in the context of transient detection, where we define transient deformation as nonperiodic, nonsecular accumulation of strain in the crust. The sparsity regularization term automatically localizes the dominant timescales and onset times of any transient signals. We apply this method to Global Positioning System (GPS) data for a slow slip event in the Cascadia subduction zone while incorporating a spatial weighting scheme that filters for spatially coherent signals. In Chapter 3, we use a combination of unique space geodetic measurements and seismic observations to study the 2014 collapse of Bárðarbunga Caldera in Iceland associated with a major eruption event. The eruption sequence, which involved deflation of a magma chamber underneath the caldera and emplacement of a dike leading to lava flow, resulted in rapid subsidence of the glacier surface overlying the caldera and wide-scale ground deformation encompassing the rift zone associated with the dike emplacement. We present a model of the collapse that suggests that the majority of the observed subsidence occurs aseismically via a deflating sill-like magma chamber. In Chapter 4, we extend upon the transient detection framework presented in Chapter 2 to study complex surface deformation over groundwater basins near Los Angeles, California. We develop a distributed time series analysis framework based on the sparse estimation techniques of Chapter 2 and apply it to an 18-year interferometric synthetic aperture radar (InSAR) time series covering the Los Angeles area. We compare long- and short-term ground deformation signals to hydraulic head data from monitoring wells to understand the mechanical link between pressure variations in subsurface aquifers and observed ground deformation

Doctor of Philosophy

dissertationChina’s retail sector has undertaken tremendous transformation since its opening to foreign investment in 1992. Retail transnational corporations have expanded rapidly in this emerging market. Yet relatively little is known about how they have embedded in the Chinese market and expanded spatially and temporally. China has experienced unprecedented urbanization since the onset of economic reform in 1978. Dramatic land use and land cover (LULC) change and urban expansion have taken place in the past three decades. Detailed time-series analysis of LULC change and urban growth in Chinese cities is still scant. This dissertation focuses on the expansion of foreign hypermarket retailers in China and the urban growth in one Chinese city, Suzhou. This research analyzes the penetration strategy and local embeddedness of foreign hypermarket retailers, examines their spatial inequality and dynamics at different geographical levels, and identifies their location determinants through binary logistic regression models. This study applies random forest classification to multitemporal Landsat Thematic Mapper (TM) images of Suzhou for LULC change analysis, employs landscape metrics and Geographic Information System (GIS) analysis to investigate urban growth patterns, and develops global and local logistic regression models to identify determinants of urban growth. The results indicate that spatiotemporal expansion of foreign hypermarket retailers has been largely dictated by the gradual liberalization policy of the Chinese government. Their local embeddedness has been impacted by both home and host economies. Relative gaps in foreign hypermarkets among three macro regions are narrowing while absolute gaps are widening. Provincial foreign hypermarket distribution has shown significant clustering in the Yangtze River Delta since 2005. Their distribution in Shanghai has changed from dispersion to intensified clustering and shown a clear trend of suburbanization. This study confirms that the random forest algorithm can effectively classify the heterogeneous landscape in Suzhou and LULC change has accelerated from 1986 to 2008. Three urban growth types, edge-expansion, infilling, and leapfrog are identified. Compared with the global model, the geographically weighted logistic regression model has overall better goodness-of-fit and provides more insights to spatial variations of the influence of underlying factors on urban growth