48,140 research outputs found
Multi-agent pathfinding for unmanned aerial vehicles
Unmanned aerial vehicles (UAVs), commonly known as drones, have become more and
more prevalent in recent years. In particular, governmental organizations and companies
around the world are starting to research how UAVs can be used to perform tasks such
as package deliver, disaster investigation and surveillance of key assets such as pipelines,
railroads and bridges. NASA is currently in the early stages of developing an air traffic
control system specifically designed to manage UAV operations in low-altitude airspace.
Companies such as Amazon and Rakuten are testing large-scale drone deliver services in
the USA and Japan.
To perform these tasks, safe and conflict-free routes for concurrently operating UAVs must
be found. This can be done using multi-agent pathfinding (mapf) algorithms, although
the correct choice of algorithms is not clear. This is because many state of the art mapf
algorithms have only been tested in 2D space in maps with many obstacles, while UAVs
operate in 3D space in open maps with few obstacles. In addition, when an unexpected
event occurs in the airspace and UAVs are forced to deviate from their original routes
while inflight, new conflict-free routes must be found. Planning for these unexpected
events is commonly known as contingency planning. With manned aircraft, contingency
plans can be created in advance or on a case-by-case basis while inflight. The scale at
which UAVs operate, combined with the fact that unexpected events may occur anywhere
at any time make both advanced planning and planning on a case-by-case basis impossible.
Thus, a new approach is needed. Online multi-agent pathfinding (online mapf) looks to
be a promising solution. Online mapf utilizes traditional mapf algorithms to perform path
planning in real-time. That is, new routes for UAVs are found while inflight.
The primary contribution of this thesis is to present one possible approach to UAV
contingency planning using online multi-agent pathfinding algorithms, which can be used
as a baseline for future research and development. It also provides an in-depth overview
and analysis of offline mapf algorithms with the goal of determining which ones are likely
to perform best when applied to UAVs. Finally, to further this same goal, a few different
mapf algorithms are experimentally tested and analyzed
Machine Learning for Fluid Mechanics
The field of fluid mechanics is rapidly advancing, driven by unprecedented
volumes of data from field measurements, experiments and large-scale
simulations at multiple spatiotemporal scales. Machine learning offers a wealth
of techniques to extract information from data that could be translated into
knowledge about the underlying fluid mechanics. Moreover, machine learning
algorithms can augment domain knowledge and automate tasks related to flow
control and optimization. This article presents an overview of past history,
current developments, and emerging opportunities of machine learning for fluid
mechanics. It outlines fundamental machine learning methodologies and discusses
their uses for understanding, modeling, optimizing, and controlling fluid
flows. The strengths and limitations of these methods are addressed from the
perspective of scientific inquiry that considers data as an inherent part of
modeling, experimentation, and simulation. Machine learning provides a powerful
information processing framework that can enrich, and possibly even transform,
current lines of fluid mechanics research and industrial applications.Comment: To appear in the Annual Reviews of Fluid Mechanics, 202
Optimal options for rendezvous and impact missions to NEOs
In this paper some potentially interesting transfer options for missions to Near Earth Objects have been studied. Due to thehigh number of potential targets and to the large variety of possible missions that can be considered, especially if resorting to low-thrust propulsion, an extensive analysis of transfer options requires a preliminary approach oriented toward an effective global search, and an appropriately simplified trajectory transcription. Low-thrust options have been modeled through a novel shape-based approach and a global optimization method has been used to look for globally optimal transfers. Different targets have been identified and various mission scenarios have been considered: rendezvous, sample return missions both with and without Earth gravity assist and impact missions
Automating Fault Tolerance in High-Performance Computational Biological Jobs Using Multi-Agent Approaches
Background: Large-scale biological jobs on high-performance computing systems
require manual intervention if one or more computing cores on which they
execute fail. This places not only a cost on the maintenance of the job, but
also a cost on the time taken for reinstating the job and the risk of losing
data and execution accomplished by the job before it failed. Approaches which
can proactively detect computing core failures and take action to relocate the
computing core's job onto reliable cores can make a significant step towards
automating fault tolerance.
Method: This paper describes an experimental investigation into the use of
multi-agent approaches for fault tolerance. Two approaches are studied, the
first at the job level and the second at the core level. The approaches are
investigated for single core failure scenarios that can occur in the execution
of parallel reduction algorithms on computer clusters. A third approach is
proposed that incorporates multi-agent technology both at the job and core
level. Experiments are pursued in the context of genome searching, a popular
computational biology application.
Result: The key conclusion is that the approaches proposed are feasible for
automating fault tolerance in high-performance computing systems with minimal
human intervention. In a typical experiment in which the fault tolerance is
studied, centralised and decentralised checkpointing approaches on an average
add 90% to the actual time for executing the job. On the other hand, in the
same experiment the multi-agent approaches add only 10% to the overall
execution time.Comment: Computers in Biology and Medicin
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