80,381 research outputs found
Learning of Unknown Environments in Goal-Directed Guidance and Navigation Tasks: Autonomous Systems and Humans
University of Minnesota Ph.D. dissertation. December 2017. Major: Aerospace Engineering. Advisor: Berenice Mettler. 1 computer file (PDF); xvi, 176 pages.Guidance and navigation in unknown environments requires learning of the task environment simultaneous to path planning. Autonomous guidance in unknown environments requires a real-time integration of environment sensing, mapping, planning, trajectory generation, and tracking. For brute force optimal control, the spatial environment should be mapped accurately. The real-world environments are in general cluttered, complex, unknown, and uncertain. An accurate model of such environments requires to store an enormous amount of information and then that information has to be processed in optimal control formulation, which is not computationally cheap and efficient for online operations of autonomous guidance systems. On the contrary, humans and animals are in general able to navigate efficiently in unknown, complex, and cluttered environments. Like autonomous guidance systems, humans and animals also do not have unlimited information processing and sensing capacities due to their biological and physical constraints. Therefore, it is relevant to understand cognitive mechanisms that help humans learn and navigate efficiently in unknown environments. Such understanding can help to design planning algorithms that are computationally efficient as well as better understand how to improve human-machine interfaces in particular between operators and autonomous agents. This dissertation is organized in three parts: 1) computational investigation of environment learning in guidance and navigation (chapters 3 and 4), 2) investigation of human environment learning in guidance tasks (chapters 5 and 6), and 3) autonomous guidance framework based on a graph representation of environment using subgoals that are invariants in agent-environment interactions (chapter 7). In the first part, the dissertation presents a computational framework for learning autonomous guidance behavior in unknown or partially known environments. The learning framework uses a receding horizon trajectory optimization associated with a spatial value function (SVF). The SVF describes optimal (e.g. minimum time) guidance behavior represented as cost and velocity at any point in geographical space to reach a specified goal state. For guidance in unknown environments, a local SVF based on current vehicle state is updated online using environment data from onboard exteroceptive sensors. The proposed learning framework has the advantage in that it learns information directly relevant to the optimal guidance and control behavior enabling optimal trajectory planning in unknown or partially known environments. The learning framework is evaluated by measuring performance over successive runs in a 3-D indoor flight simulation. The test vehicle in the simulations is a Blade-Cx2 coaxial miniature helicopter. The environment is a priori unknown to the learning system. The dissertation investigates changes in performance, dynamic behavior, SVF, and control behavior in body frame, as a result of learning over successive runs. In the second part, the dissertation focuses on modeling and evaluating how a human operator learns an unknown task environment in goal-directed navigation tasks. Previous studies have showed that human pilots organize their guidance and perceptual behavior using the interaction patterns (IPs), i.e., invariants in their sensory-motor processes in interactions with the task space. However, previous studies were performed in known environments. In this dissertation, the concept of IPs is used to build a modeling and analysis framework to investigate human environment learning and decision-making in navigation of unknown environments. This approach emphasizes the agent dynamics (e.g., a vehicle controlled by a human operator), which is not typical in simultaneous navigation and environment learning studies. The framework is applied to analyze human data from simulated first-person guidance experiments in an obstacle field. Subjects were asked to perform multiple trials and find minimum-time routes between prespecified start and goal locations without priori knowledge of the environment. They used a joystick to control flight behavior and navigate in the environment. In the third part, the subgoal graph framework used to model and evaluate humans is extended to an autonomous guidance algorithm for navigation in unknown environments. The autonomous guidance framework based on subgoal graph is an improvement to the SVF based guidance and learning framework presented in the first part. The latter uses a grid representation of the environment, which is computationally costly in comparison to the graph based guidance model
Enaction-Based Artificial Intelligence: Toward Coevolution with Humans in the Loop
This article deals with the links between the enaction paradigm and
artificial intelligence. Enaction is considered a metaphor for artificial
intelligence, as a number of the notions which it deals with are deemed
incompatible with the phenomenal field of the virtual. After explaining this
stance, we shall review previous works regarding this issue in terms of
artifical life and robotics. We shall focus on the lack of recognition of
co-evolution at the heart of these approaches. We propose to explicitly
integrate the evolution of the environment into our approach in order to refine
the ontogenesis of the artificial system, and to compare it with the enaction
paradigm. The growing complexity of the ontogenetic mechanisms to be activated
can therefore be compensated by an interactive guidance system emanating from
the environment. This proposition does not however resolve that of the
relevance of the meaning created by the machine (sense-making). Such
reflections lead us to integrate human interaction into this environment in
order to construct relevant meaning in terms of participative artificial
intelligence. This raises a number of questions with regards to setting up an
enactive interaction. The article concludes by exploring a number of issues,
thereby enabling us to associate current approaches with the principles of
morphogenesis, guidance, the phenomenology of interactions and the use of
minimal enactive interfaces in setting up experiments which will deal with the
problem of artificial intelligence in a variety of enaction-based ways
TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agents
To safely and efficiently navigate in complex urban traffic, autonomous
vehicles must make responsible predictions in relation to surrounding
traffic-agents (vehicles, bicycles, pedestrians, etc.). A challenging and
critical task is to explore the movement patterns of different traffic-agents
and predict their future trajectories accurately to help the autonomous vehicle
make reasonable navigation decision. To solve this problem, we propose a long
short-term memory-based (LSTM-based) realtime traffic prediction algorithm,
TrafficPredict. Our approach uses an instance layer to learn instances'
movements and interactions and has a category layer to learn the similarities
of instances belonging to the same type to refine the prediction. In order to
evaluate its performance, we collected trajectory datasets in a large city
consisting of varying conditions and traffic densities. The dataset includes
many challenging scenarios where vehicles, bicycles, and pedestrians move among
one another. We evaluate the performance of TrafficPredict on our new dataset
and highlight its higher accuracy for trajectory prediction by comparing with
prior prediction methods.Comment: Accepted by AAAI(Oral) 201
Applying the business process and practice alignment meta-model: Daily practices and process modelling
Background: Business Process Modelling (BPM) is one of the most important phases of information system design. Business Process (BP) meta-models allow capturing informational and behavioural aspects of business processes. Unfortunately, standard BP meta-modelling approaches focus just on process description, providing different BP models. It is not possible to compare and identify related daily practices in order to improve BP models. This lack of information implies that further research in BP meta-models is needed to reflect the evolution/change in BP. Considering this limitation, this paper introduces a new BP meta-model designed by Business Process and Practice Alignment Meta-model (BPPAMeta-model). Our intention is to present a meta-model that addresses features related to the alignment between daily work practices and BP descriptions. Objectives: This paper intends to present a meta-model which is going to integrate daily work information into coherent and sound process definitions. Methods/Approach: The methodology employed in the research follows a design-science approach. Results: The results of the case study are related to the application of the proposed meta-model to align the specification of a BP model with work practices models. Conclusions: This meta-model can be used within the BPPAM methodology to specify or improve business processes models based on work practice descriptions
Collective motion of cells: from experiments to models
Swarming or collective motion of living entities is one of the most common
and spectacular manifestations of living systems having been extensively
studied in recent years. A number of general principles have been established.
The interactions at the level of cells are quite different from those among
individual animals therefore the study of collective motion of cells is likely
to reveal some specific important features which are overviewed in this paper.
In addition to presenting the most appealing results from the quickly growing
related literature we also deliver a critical discussion of the emerging
picture and summarize our present understanding of collective motion at the
cellular level. Collective motion of cells plays an essential role in a number
of experimental and real-life situations. In most cases the coordinated motion
is a helpful aspect of the given phenomenon and results in making a related
process more efficient (e.g., embryogenesis or wound healing), while in the
case of tumor cell invasion it appears to speed up the progression of the
disease. In these mechanisms cells both have to be motile and adhere to one
another, the adherence feature being the most specific to this sort of
collective behavior. One of the central aims of this review is both presenting
the related experimental observations and treating them in the light of a few
basic computational models so as to make an interpretation of the phenomena at
a quantitative level as well.Comment: 24 pages, 25 figures, 13 reference video link
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