24,443 research outputs found
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
What is Computational Intelligence and where is it going?
What is Computational Intelligence (CI) and what are its relations with Artificial Intelligence (AI)? A brief survey of the scope of CI journals and books with ``computational intelligence'' in their title shows that at present it is an umbrella for three core technologies (neural, fuzzy and evolutionary), their applications, and selected fashionable pattern recognition methods. At present CI has no comprehensive foundations and is more a bag of tricks than a solid branch of science. The change of focus from methods to challenging problems is advocated, with CI defined as a part of computer and engineering sciences devoted to solution of non-algoritmizable problems. In this view AI is a part of CI focused on problems related to higher cognitive functions, while the rest of the CI community works on problems related to perception and control, or lower cognitive functions. Grand challenges on both sides of this spectrum are addressed
Building Machines That Learn and Think Like People
Recent progress in artificial intelligence (AI) has renewed interest in
building systems that learn and think like people. Many advances have come from
using deep neural networks trained end-to-end in tasks such as object
recognition, video games, and board games, achieving performance that equals or
even beats humans in some respects. Despite their biological inspiration and
performance achievements, these systems differ from human intelligence in
crucial ways. We review progress in cognitive science suggesting that truly
human-like learning and thinking machines will have to reach beyond current
engineering trends in both what they learn, and how they learn it.
Specifically, we argue that these machines should (a) build causal models of
the world that support explanation and understanding, rather than merely
solving pattern recognition problems; (b) ground learning in intuitive theories
of physics and psychology, to support and enrich the knowledge that is learned;
and (c) harness compositionality and learning-to-learn to rapidly acquire and
generalize knowledge to new tasks and situations. We suggest concrete
challenges and promising routes towards these goals that can combine the
strengths of recent neural network advances with more structured cognitive
models.Comment: In press at Behavioral and Brain Sciences. Open call for commentary
proposals (until Nov. 22, 2016).
https://www.cambridge.org/core/journals/behavioral-and-brain-sciences/information/calls-for-commentary/open-calls-for-commentar
Machine Learning in Automated Text Categorization
The automated categorization (or classification) of texts into predefined
categories has witnessed a booming interest in the last ten years, due to the
increased availability of documents in digital form and the ensuing need to
organize them. In the research community the dominant approach to this problem
is based on machine learning techniques: a general inductive process
automatically builds a classifier by learning, from a set of preclassified
documents, the characteristics of the categories. The advantages of this
approach over the knowledge engineering approach (consisting in the manual
definition of a classifier by domain experts) are a very good effectiveness,
considerable savings in terms of expert manpower, and straightforward
portability to different domains. This survey discusses the main approaches to
text categorization that fall within the machine learning paradigm. We will
discuss in detail issues pertaining to three different problems, namely
document representation, classifier construction, and classifier evaluation.Comment: Accepted for publication on ACM Computing Survey
Experience-Based Planning with Sparse Roadmap Spanners
We present an experienced-based planning framework called Thunder that learns
to reduce computation time required to solve high-dimensional planning problems
in varying environments. The approach is especially suited for large
configuration spaces that include many invariant constraints, such as those
found with whole body humanoid motion planning. Experiences are generated using
probabilistic sampling and stored in a sparse roadmap spanner (SPARS), which
provides asymptotically near-optimal coverage of the configuration space,
making storing, retrieving, and repairing past experiences very efficient with
respect to memory and time. The Thunder framework improves upon past
experience-based planners by storing experiences in a graph rather than in
individual paths, eliminating redundant information, providing more
opportunities for path reuse, and providing a theoretical limit to the size of
the experience graph. These properties also lead to improved handling of
dynamically changing environments, reasoning about optimal paths, and reducing
query resolution time. The approach is demonstrated on a 30 degrees of freedom
humanoid robot and compared with the Lightning framework, an experience-based
planner that uses individual paths to store past experiences. In environments
with variable obstacles and stability constraints, experiments show that
Thunder is on average an order of magnitude faster than Lightning and planning
from scratch. Thunder also uses 98.8% less memory to store its experiences
after 10,000 trials when compared to Lightning. Our framework is implemented
and freely available in the Open Motion Planning Library.Comment: Submitted to ICRA 201
Cognition-Based Networks: A New Perspective on Network Optimization Using Learning and Distributed Intelligence
IEEE Access
Volume 3, 2015, Article number 7217798, Pages 1512-1530
Open Access
Cognition-based networks: A new perspective on network optimization using learning and distributed intelligence (Article)
Zorzi, M.a , Zanella, A.a, Testolin, A.b, De Filippo De Grazia, M.b, Zorzi, M.bc
a Department of Information Engineering, University of Padua, Padua, Italy
b Department of General Psychology, University of Padua, Padua, Italy
c IRCCS San Camillo Foundation, Venice-Lido, Italy
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Abstract
In response to the new challenges in the design and operation of communication networks, and taking inspiration from how living beings deal with complexity and scalability, in this paper we introduce an innovative system concept called COgnition-BAsed NETworkS (COBANETS). The proposed approach develops around the systematic application of advanced machine learning techniques and, in particular, unsupervised deep learning and probabilistic generative models for system-wide learning, modeling, optimization, and data representation. Moreover, in COBANETS, we propose to combine this learning architecture with the emerging network virtualization paradigms, which make it possible to actuate automatic optimization and reconfiguration strategies at the system level, thus fully unleashing the potential of the learning approach. Compared with the past and current research efforts in this area, the technical approach outlined in this paper is deeply interdisciplinary and more comprehensive, calling for the synergic combination of expertise of computer scientists, communications and networking engineers, and cognitive scientists, with the ultimate aim of breaking new ground through a profound rethinking of how the modern understanding of cognition can be used in the management and optimization of telecommunication network
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