20,914 research outputs found
Towards Odor-Sensitive Mobile Robots
J. Monroy, J. Gonzalez-Jimenez, "Towards Odor-Sensitive Mobile Robots", Electronic Nose Technologies and Advances in Machine Olfaction, IGI Global, pp. 244--263, 2018, doi:10.4018/978-1-5225-3862-2.ch012
Versión preprint, con permiso del editorOut of all the components of a mobile robot, its sensorial system is undoubtedly among the most critical
ones when operating in real environments. Until now, these sensorial systems mostly relied on range
sensors (laser scanner, sonar, active triangulation) and cameras. While electronic noses have barely
been employed, they can provide a complementary sensory information, vital for some applications, as
with humans. This chapter analyzes the motivation of providing a robot with gas-sensing capabilities
and also reviews some of the hurdles that are preventing smell from achieving the importance of other
sensing modalities in robotics. The achievements made so far are reviewed to illustrate the current status
on the three main fields within robotics olfaction: the classification of volatile substances, the spatial
estimation of the gas dispersion from sparse measurements, and the localization of the gas source within
a known environment
Identifying Sources and Sinks in the Presence of Multiple Agents with Gaussian Process Vector Calculus
In systems of multiple agents, identifying the cause of observed agent
dynamics is challenging. Often, these agents operate in diverse, non-stationary
environments, where models rely on hand-crafted environment-specific features
to infer influential regions in the system's surroundings. To overcome the
limitations of these inflexible models, we present GP-LAPLACE, a technique for
locating sources and sinks from trajectories in time-varying fields. Using
Gaussian processes, we jointly infer a spatio-temporal vector field, as well as
canonical vector calculus operations on that field. Notably, we do this from
only agent trajectories without requiring knowledge of the environment, and
also obtain a metric for denoting the significance of inferred causal features
in the environment by exploiting our probabilistic method. To evaluate our
approach, we apply it to both synthetic and real-world GPS data, demonstrating
the applicability of our technique in the presence of multiple agents, as well
as its superiority over existing methods.Comment: KDD '18 Proceedings of the 24th ACM SIGKDD International Conference
on Knowledge Discovery & Data Mining, Pages 1254-1262, 9 pages, 5 figures,
conference submission, University of Oxford. arXiv admin note: text overlap
with arXiv:1709.0235
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems
Development of robust dynamical systems and networks such as autonomous
aircraft systems capable of accomplishing complex missions faces challenges due
to the dynamically evolving uncertainties coming from model uncertainties,
necessity to operate in a hostile cluttered urban environment, and the
distributed and dynamic nature of the communication and computation resources.
Model-based robust design is difficult because of the complexity of the hybrid
dynamic models including continuous vehicle dynamics, the discrete models of
computations and communications, and the size of the problem. We will overview
recent advances in methodology and tools to model, analyze, and design robust
autonomous aerospace systems operating in uncertain environment, with stress on
efficient uncertainty quantification and robust design using the case studies
of the mission including model-based target tracking and search, and trajectory
planning in uncertain urban environment. To show that the methodology is
generally applicable to uncertain dynamical systems, we will also show examples
of application of the new methods to efficient uncertainty quantification of
energy usage in buildings, and stability assessment of interconnected power
networks
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