Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking

In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic properties). The goal is to leverage knowledge from the source robot such that the target robot achieves high-accuracy trajectory tracking on arbitrary trajectories from the first attempt with minimal data recollection and training. Most existing approaches for multi-robot knowledge transfer are based on post-analysis of datasets collected from both robots. In this work, we study the feasibility of impromptu transfer of models across robots by learning an error prediction module online. In particular, we analytically derive the form of the mapping to be learned by the online module for exact tracking, propose an approach for characterizing similarity between robots, and use these results to analyze the stability of the overall system. The proposed approach is illustrated in simulation and verified experimentally on two different quadrotors performing impromptu trajectory tracking tasks, where the quadrotors are required to accurately track arbitrary hand-drawn trajectories from the first attempt.Comment: European Control Conference (ECC) 201

Forecasting bus passenger flows by using a clustering-based support vector regression approach

As a significant component of the intelligent transportation system, forecasting bus passenger flows plays a key role in resource allocation, network planning, and frequency setting. However, it remains challenging to recognize high fluctuations, nonlinearity, and periodicity of bus passenger flows due to varied destinations and departure times. For this reason, a novel forecasting model named as affinity propagation-based support vector regression (AP-SVR) is proposed based on clustering and nonlinear simulation. For the addressed approach, a clustering algorithm is first used to generate clustering-based intervals. A support vector regression (SVR) is then exploited to forecast the passenger flow for each cluster, with the use of particle swarm optimization (PSO) for obtaining the optimized parameters. Finally, the prediction results of the SVR are rearranged by chronological order rearrangement. The proposed model is tested using real bus passenger data from a bus line over four months. Experimental results demonstrate that the proposed model performs better than other peer models in terms of absolute percentage error and mean absolute percentage error. It is recommended that the deterministic clustering technique with stable cluster results (AP) can improve the forecasting performance significantly.info:eu-repo/semantics/publishedVersio

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.Comment: Pre-peer reviewed version of the article accepted in Journal of Field Robotic

Probabilistic Graphical Models on Multi-Core CPUs using Java 8

In this paper, we discuss software design issues related to the development of parallel computational intelligence algorithms on multi-core CPUs, using the new Java 8 functional programming features. In particular, we focus on probabilistic graphical models (PGMs) and present the parallelisation of a collection of algorithms that deal with inference and learning of PGMs from data. Namely, maximum likelihood estimation, importance sampling, and greedy search for solving combinatorial optimisation problems. Through these concrete examples, we tackle the problem of defining efficient data structures for PGMs and parallel processing of same-size batches of data sets using Java 8 features. We also provide straightforward techniques to code parallel algorithms that seamlessly exploit multi-core processors. The experimental analysis, carried out using our open source AMIDST (Analysis of MassIve Data STreams) Java toolbox, shows the merits of the proposed solutions.Comment: Pre-print version of the paper presented in the special issue on Computational Intelligence Software at IEEE Computational Intelligence Magazine journa