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

Diverse Contributions to Implicit Human-Computer Interaction

Cuando las personas interactúan con los ordenadores, hay mucha información que no se proporciona a propósito. Mediante el estudio de estas interacciones implícitas es posible entender qué características de la interfaz de usuario son beneficiosas (o no), derivando así en implicaciones para el diseño de futuros sistemas interactivos. La principal ventaja de aprovechar datos implícitos del usuario en aplicaciones informáticas es que cualquier interacción con el sistema puede contribuir a mejorar su utilidad. Además, dichos datos eliminan el coste de tener que interrumpir al usuario para que envíe información explícitamente sobre un tema que en principio no tiene por qué guardar relación con la intención de utilizar el sistema. Por el contrario, en ocasiones las interacciones implícitas no proporcionan datos claros y concretos. Por ello, hay que prestar especial atención a la manera de gestionar esta fuente de información. El propósito de esta investigación es doble: 1) aplicar una nueva visión tanto al diseño como al desarrollo de aplicaciones que puedan reaccionar consecuentemente a las interacciones implícitas del usuario, y 2) proporcionar una serie de metodologías para la evaluación de dichos sistemas interactivos. Cinco escenarios sirven para ilustrar la viabilidad y la adecuación del marco de trabajo de la tesis. Resultados empíricos con usuarios reales demuestran que aprovechar la interacción implícita es un medio tanto adecuado como conveniente para mejorar de múltiples maneras los sistemas interactivos.Leiva Torres, LA. (2012). Diverse Contributions to Implicit Human-Computer Interaction [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/17803Palanci

SciTech News Volume 70, No. 2 (2016)

Table of Contents: Columns and Reports From the Editor 3 Division News Science-Technology Division 4 New Members 6 Chemistry Division 7 New Members11 Engineering Division 12 Aerospace Section of the Engineering Division 17 Reviews Sci-Tech Book News Reviews 1

Proceedings of the 10th International Conference on Ecological Informatics: translating ecological data into knowledge and decisions in a rapidly changing world: ICEI 2018

The Conference Proceedings are an impressive display of the current scope of Ecological Informatics. Whilst Data Management, Analysis, Synthesis and Forecasting have been lasting popular themes over the past nine biannual ICEI conferences, ICEI 2018 addresses distinctively novel developments in Data Acquisition enabled by cutting edge in situ and remote sensing technology. The here presented ICEI 2018 abstracts captures well current trends and challenges of Ecological Informatics towards: • regional, continental and global sharing of ecological data, • thorough integration of complementing monitoring technologies including DNA-barcoding, • sophisticated pattern recognition by deep learning, • advanced exploration of valuable information in ‘big data’ by means of machine learning and process modelling, • decision-informing solutions for biodiversity conservation and sustainable ecosystem management in light of global changes

Proceedings of the 10th International Conference on Ecological Informatics: translating ecological data into knowledge and decisions in a rapidly changing world: ICEI 2018

The Conference Proceedings are an impressive display of the current scope of Ecological Informatics. Whilst Data Management, Analysis, Synthesis and Forecasting have been lasting popular themes over the past nine biannual ICEI conferences, ICEI 2018 addresses distinctively novel developments in Data Acquisition enabled by cutting edge in situ and remote sensing technology. The here presented ICEI 2018 abstracts captures well current trends and challenges of Ecological Informatics towards: • regional, continental and global sharing of ecological data, • thorough integration of complementing monitoring technologies including DNA-barcoding, • sophisticated pattern recognition by deep learning, • advanced exploration of valuable information in ‘big data’ by means of machine learning and process modelling, • decision-informing solutions for biodiversity conservation and sustainable ecosystem management in light of global changes