On the factors causing processing difficulty of multiple-scene displays

Multiplex viewing of static or dynamic scenes is an increasing feature of screen media. Most existing multiplex experiments have examined detection across increasing scene numbers, but currently no systematic evaluation of the factors that might produce difficulty in processing multiplexes exists. Across five experiments we provide such an evaluation. Experiment 1 characterises difficulty in change detection when the number of scenes is increased. Experiment 2 reveals that the increased difficulty across multiple-scene displays is caused by the total amount of visual information accounts for differences in change detection times, regardless of whether this information is presented across multiple scenes, or contained in one scene. Experiment 3 shows that whether quadrants of a display were drawn from the same, or different scenes did not affect change detection performance. Experiment 4 demonstrates that knowing which scene the change will occur in means participants can perform at monoplex level. Finally, Experiment 5 finds that changes of central interest in multiplexed scenes are detected far easier than marginal interest changes to such an extent that a centrally interesting object removal in nine screens is detected more rapidly than a marginally interesting object removal in four screens. Processing multiple-screen displays therefore seems dependent on the amount of information, and the importance of that information to the task, rather than simply the number of scenes in the display. We discuss the theoretical and applied implications of these findings

Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search

In search applications, autonomous unmanned vehicles must be able to efficiently reacquire and localize mobile targets that can remain out of view for long periods of time in large spaces. As such, all available information sources must be actively leveraged -- including imprecise but readily available semantic observations provided by humans. To achieve this, this work develops and validates a novel collaborative human-machine sensing solution for dynamic target search. Our approach uses continuous partially observable Markov decision process (CPOMDP) planning to generate vehicle trajectories that optimally exploit imperfect detection data from onboard sensors, as well as semantic natural language observations that can be specifically requested from human sensors. The key innovation is a scalable hierarchical Gaussian mixture model formulation for efficiently solving CPOMDPs with semantic observations in continuous dynamic state spaces. The approach is demonstrated and validated with a real human-robot team engaged in dynamic indoor target search and capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference (Cambridge, UK, July 2018

JWalk: a tool for lazy, systematic testing of java classes by design introspection and user interaction

Popular software testing tools, such as JUnit, allow frequent retesting of modified code; yet the manually created test scripts are often seriously incomplete. A unit-testing tool called JWalk has therefore been developed to address the need for systematic unit testing within the context of agile methods. The tool operates directly on the compiled code for Java classes and uses a new lazy method for inducing the changing design of a class on the fly. This is achieved partly through introspection, using Java’s reflection capability, and partly through interaction with the user, constructing and saving test oracles on the fly. Predictive rules reduce the number of oracle values that must be confirmed by the tester. Without human intervention, JWalk performs bounded exhaustive exploration of the class’s method protocols and may be directed to explore the space of algebraic constructions, or the intended design state-space of the tested class. With some human interaction, JWalk performs up to the equivalent of fully automated state-based testing, from a specification that was acquired incrementally

Efficient exploration of unknown indoor environments using a team of mobile robots

Whenever multiple robots have to solve a common task, they need to coordinate their actions to carry out the task efficiently and to avoid interferences between individual robots. This is especially the case when considering the problem of exploring an unknown environment with a team of mobile robots. To achieve efficient terrain coverage with the sensors of the robots, one first needs to identify unknown areas in the environment. Second, one has to assign target locations to the individual robots so that they gather new and relevant information about the environment with their sensors. This assignment should lead to a distribution of the robots over the environment in a way that they avoid redundant work and do not interfere with each other by, for example, blocking their paths. In this paper, we address the problem of efficiently coordinating a large team of mobile robots. To better distribute the robots over the environment and to avoid redundant work, we take into account the type of place a potential target is located in (e.g., a corridor or a room). This knowledge allows us to improve the distribution of robots over the environment compared to approaches lacking this capability. To autonomously determine the type of a place, we apply a classifier learned using the AdaBoost algorithm. The resulting classifier takes laser range data as input and is able to classify the current location with high accuracy. We additionally use a hidden Markov model to consider the spatial dependencies between nearby locations. Our approach to incorporate the information about the type of places in the assignment process has been implemented and tested in different environments. The experiments illustrate that our system effectively distributes the robots over the environment and allows them to accomplish their mission faster compared to approaches that ignore the place labels

Bayesian Bounds on Parameter Estimation Accuracy for Compact Coalescing Binary Gravitational Wave Signals

A global network of laser interferometric gravitational wave detectors is projected to be in operation by around the turn of the century. Here, the noisy output of a single instrument is examined. A gravitational wave is assumed to have been detected in the data and we deal with the subsequent problem of parameter estimation. Specifically, we investigate theoretical lower bounds on the minimum mean-square errors associated with measuring the parameters of the inspiral waveform generated by an orbiting system of neutron stars/black holes. Three theoretical lower bounds on parameter estimation accuracy are considered: the Cramer-Rao bound (CRB); the Weiss-Weinstein bound (WWB); and the Ziv-Zakai bound (ZZB). We obtain the WWB and ZZB for the Newtonian-form of the coalescing binary waveform, and compare them with published CRB and numerical Monte-Carlo results. At large SNR, we find that the theoretical bounds are all identical and are attained by the Monte-Carlo results. As SNR gradually drops below 10, the WWB and ZZB are both found to provide increasingly tighter lower bounds than the CRB. However, at these levels of moderate SNR, there is a significant departure between all the bounds and the numerical Monte-Carlo results.Comment: 17 pages (LaTeX), 4 figures. Submitted to Physical Review

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Requirements engineering: a review and research agenda

This paper reviews the area of requirements engineering. It outlines the key concerns to which attention should be devoted by both practitioners, who wish to "reengineer" their development processes, and academics, seeking intellectual challenges. It presents an assessment of the state-of-the-art and draws conclusions in the form of a research agenda