105,988 research outputs found
Informative Path Planning for Active Field Mapping under Localization Uncertainty
Information gathering algorithms play a key role in unlocking the potential
of robots for efficient data collection in a wide range of applications.
However, most existing strategies neglect the fundamental problem of the robot
pose uncertainty, which is an implicit requirement for creating robust,
high-quality maps. To address this issue, we introduce an informative planning
framework for active mapping that explicitly accounts for the pose uncertainty
in both the mapping and planning tasks. Our strategy exploits a Gaussian
Process (GP) model to capture a target environmental field given the
uncertainty on its inputs. For planning, we formulate a new utility function
that couples the localization and field mapping objectives in GP-based mapping
scenarios in a principled way, without relying on any manually tuned
parameters. Extensive simulations show that our approach outperforms existing
strategies, with reductions in mean pose uncertainty and map error. We also
present a proof of concept in an indoor temperature mapping scenario.Comment: 8 pages, 7 figures, submission (revised) to Robotics & Automation
Letters (and IEEE International Conference on Robotics and Automation
Rational physical agent reasoning beyond logic
The paper addresses the problem of defining a theoretical physical agent framework that satisfies practical requirements of programmability by non-programmer engineers and at the same time permitting fast realtime operation of agents on digital computer networks. The objective of the new framework is to enable the satisfaction of performance requirements on autonomous vehicles and robots in space exploration, deep underwater exploration, defense reconnaissance, automated manufacturing and household automation
Modeling Human Ad Hoc Coordination
Whether in groups of humans or groups of computer agents, collaboration is
most effective between individuals who have the ability to coordinate on a
joint strategy for collective action. However, in general a rational actor will
only intend to coordinate if that actor believes the other group members have
the same intention. This circular dependence makes rational coordination
difficult in uncertain environments if communication between actors is
unreliable and no prior agreements have been made. An important normative
question with regard to coordination in these ad hoc settings is therefore how
one can come to believe that other actors will coordinate, and with regard to
systems involving humans, an important empirical question is how humans arrive
at these expectations. We introduce an exact algorithm for computing the
infinitely recursive hierarchy of graded beliefs required for rational
coordination in uncertain environments, and we introduce a novel mechanism for
multiagent coordination that uses it. Our algorithm is valid in any environment
with a finite state space, and extensions to certain countably infinite state
spaces are likely possible. We test our mechanism for multiagent coordination
as a model for human decisions in a simple coordination game using existing
experimental data. We then explore via simulations whether modeling humans in
this way may improve human-agent collaboration.Comment: AAAI 201
Promoting Bicycle Commuter Safety, Research Report 11-08
We present an overview of the risks associated with cycling to emphasize the need for safety. We focus on the application of frameworks from social psychology to education, one of the 5 Es—engineering, education, enforcement, encouragement, and evaluation. We use the structure of the 5 Es to organize information with particular attention to engineering and education in the literature review. Engineering is essential because the infrastructure is vital to protecting cyclists. Education is emphasized since the central focus of the report is safety
- …