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

Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Gaussian Process Planning with Lipschitz Continuous Reward Functions: Towards Unifying Bayesian Optimization, Active Learning, and Beyond

This paper presents a novel nonmyopic adaptive Gaussian process planning (GPP) framework endowed with a general class of Lipschitz continuous reward functions that can unify some active learning/sensing and Bayesian optimization criteria and offer practitioners some flexibility to specify their desired choices for defining new tasks/problems. In particular, it utilizes a principled Bayesian sequential decision problem framework for jointly and naturally optimizing the exploration-exploitation trade-off. In general, the resulting induced GPP policy cannot be derived exactly due to an uncountable set of candidate observations. A key contribution of our work here thus lies in exploiting the Lipschitz continuity of the reward functions to solve for a nonmyopic adaptive epsilon-optimal GPP (epsilon-GPP) policy. To plan in real time, we further propose an asymptotically optimal, branch-and-bound anytime variant of epsilon-GPP with performance guarantee. We empirically demonstrate the effectiveness of our epsilon-GPP policy and its anytime variant in Bayesian optimization and an energy harvesting task.Comment: 30th AAAI Conference on Artificial Intelligence (AAAI 2016), Extended version with proofs, 17 page

Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes

Robotic Information Gathering (RIG) is a foundational research topic that answers how a robot (team) collects informative data to efficiently build an accurate model of an unknown target function under robot embodiment constraints. RIG has many applications, including but not limited to autonomous exploration and mapping, 3D reconstruction or inspection, search and rescue, and environmental monitoring. A RIG system relies on a probabilistic model's prediction uncertainty to identify critical areas for informative data collection. Gaussian Processes (GPs) with stationary kernels have been widely adopted for spatial modeling. However, real-world spatial data is typically non-stationary -- different locations do not have the same degree of variability. As a result, the prediction uncertainty does not accurately reveal prediction error, limiting the success of RIG algorithms. We propose a family of non-stationary kernels named Attentive Kernel (AK), which is simple, robust, and can extend any existing kernel to a non-stationary one. We evaluate the new kernel in elevation mapping tasks, where AK provides better accuracy and uncertainty quantification over the commonly used stationary kernels and the leading non-stationary kernels. The improved uncertainty quantification guides the downstream informative planner to collect more valuable data around the high-error area, further increasing prediction accuracy. A field experiment demonstrates that the proposed method can guide an Autonomous Surface Vehicle (ASV) to prioritize data collection in locations with significant spatial variations, enabling the model to characterize salient environmental features.Comment: International Journal of Robotics Research (IJRR). arXiv admin note: text overlap with arXiv:2205.0642

Information-theoretic Reasoning in Distributed and Autonomous Systems

The increasing prevalence of distributed and autonomous systems is transforming decision making in industries as diverse as agriculture, environmental monitoring, and healthcare. Despite significant efforts, challenges remain in robustly planning under uncertainty. In this thesis, we present a number of information-theoretic decision rules for improving the analysis and control of complex adaptive systems. We begin with the problem of quantifying the data storage (memory) and transfer (communication) within information processing systems. We develop an information-theoretic framework to study nonlinear interactions within cooperative and adversarial scenarios, solely from observations of each agent's dynamics. This framework is applied to simulations of robotic soccer games, where the measures reveal insights into team performance, including correlations of the information dynamics to the scoreline. We then study the communication between processes with latent nonlinear dynamics that are observed only through a filter. By using methods from differential topology, we show that the information-theoretic measures commonly used to infer communication in observed systems can also be used in certain partially observed systems. For robotic environmental monitoring, the quality of data depends on the placement of sensors. These locations can be improved by either better estimating the quality of future viewpoints or by a team of robots operating concurrently. By robustly handling the uncertainty of sensor model measurements, we are able to present the first end-to-end robotic system for autonomously tracking small dynamic animals, with a performance comparable to human trackers. We then solve the issue of coordinating multi-robot systems through distributed optimisation techniques. These allow us to develop non-myopic robot trajectories for these tasks and, importantly, show that these algorithms provide guarantees for convergence rates to the optimal payoff sequence

Bayesian Approaches for Modelling Flood Damage Processes

Hochwasserschadensprozesse werden von den drei Komponenten des Hochwasserrisikos bestimmt – der Gefahr, der Exposition und der Vulnerabilität. Dabei bleiben wichtige Einflussgrößen auf die Vulnerabilität, wie die private Hochwasservorsorge aufgrund fehlender quantitativer Informationen unberücksichtigt. Diese Arbeit entwickelt daher eine robuste statistische Methode zur Quantifizierung des Einflusses von privater Hochwasservorsorge auf die Reduzierung der Vulnerabilität von Haushalten bei Hochwasser. Es konnte gezeigt werden, dass in Deutschland private Hochwasservorsorgemaßnahmen den durchschnittlichen Hochwasserschaden pro Wohngebäude um 11.000 bis 15.000 Euro reduzieren. Hochwasserschadensmodelle mit Expertenwissen und datengestützten Methoden sind dabei am besten in der Lage Unterschiede in der Vulnerabilität durch private Hochwasservorsorge zu erkennen. Die über Hochwasserschadenprozesse erhobenen Daten und Modellannahmen sind von Unsicherheit geprägt und so sind auch Schätzungen mit. Die Bayesschen Modelle, die in dieser Arbeit entwickelt und angewandt werden, nutzen Annahmen über Schadensprozesse als Prior und empirische Daten zur Aktualisierung der Wahrscheinlischkeitsverteilungen. Die Modelle bieten Hochwasserschadensschätzungen als Verteilung, welche die Bandbreite der Variabilität der Schadensprozesse und die Unsicherheit der Modellannahmen abbilden. Hochwasserschadensmodelle, hinsichtlich der Prognoseerstellung und Anwendbarkeit. Ins Besondere verbessert die Verwendung einer Beta–Verteilung die Zuverlässigkeit der Modellergebnisse im Vergleich zu den häufig genutzten Gaußschen oder nicht parametrischen Verteilungen. Der hierarchische Bayessche Ansatz schafft eine verbesserte Parametrisierung von Wasserstand-Schadens-Funktionen und ersetzt so die Notwendigkeit empirischer Daten durch regional- und Ereignis-spezifisches Expertenwissen. Auf diese Weise kann die Vorhersage bei einer zeitlich und räumlichen Übertragung des Models verbessert werden.Flood damage processes are influenced by the three components of flood risk - hazard, exposure and vulnerability. In comparison to hazard and exposure, the vulnerability component, though equally important is often generalized in many flood risk assessments by a simple depth-damage curve. Hence, this thesis developed a robust statistical method to quantify the role of private precaution in reducing flood vulnerability of households. In Germany, the role of private precaution was found to be very significant in reducing flood damage (11 - 15 thousand euros, per household). Also, flood loss models with structure, parameterization and choice of explanatory variables based on expert knowledge and data-driven methods were successful in capturing changes in vulnerability, which makes them suitable for future risk assessments. Due to significant uncertainty in the underlying data and model assumptions, flood loss models always carry uncertainty around their predictions. This thesis develops Bayesian approaches for flood loss modelling using assumptions regarding damage processes as priors and available empirical data as evidence for updating. Thus, these models provide flood loss predictions as a distribution, that potentially accounts for variability in damage processes and uncertainty in model assumptions. The models presented in this thesis are an improvement over the state-of-the-art flood loss models in terms of prediction capability and model applicability. In particular, the choice of the response (Beta) distribution improved the reliability of loss predictions compared to the popular Gaussian or non-parametric distributions; the Hierarchical Bayesian approach resulted in an improved parameterization of the common stage damage functions that replaces empirical data requirements with region and event-specific expert knowledge, thereby, enhancing its predictive capabilities during spatiotemporal transfer

Data-Driven Framework for Understanding & Modeling Ride-Sourcing Transportation Systems

Ride-sourcing transportation services offered by transportation network companies (TNCs) like Uber and Lyft are disrupting the transportation landscape. The growing demand on these services, along with their potential short and long-term impacts on the environment, society, and infrastructure emphasize the need to further understand the ride-sourcing system. There were no sufficient data to fully understand the system and integrate it within regional multimodal transportation frameworks. This can be attributed to commercial and competition reasons, given the technology-enabled and innovative nature of the system. Recently, in 2019, the City of Chicago the released an extensive and complete ride-sourcing trip-level data for all trips made within the city since November 1, 2018. The data comprises the trip ends (pick-up and drop-off locations), trip timestamps, trip length and duration, fare including tipping amounts, and whether the trip was authorized to be shared (pooled) with another passenger or not. Therefore, the main goal of this dissertation is to develop a comprehensive data-driven framework to understand and model the system using this data from Chicago, in a reproducible and transferable fashion. Using data fusion approach, sociodemographic, economic, parking supply, transit availability and accessibility, built environment and crime data are collected from open sources to develop this framework. The framework is predicated on three pillars of analytics: (1) explorative and descriptive analytics, (2) diagnostic analytics, and (3) predictive analytics. The dissertation research framework also provides a guide on the key spatial and behavioral explanatory variables shaping the utility of the mode, driving the demand, and governing the interdependencies between the demand’s willingness to share and surge price. Thus, the key findings can be readily challenged, verified, and utilized in different geographies. In the explorative and descriptive analytics, the ride-sourcing system’s spatial and temporal dimensions of the system are analyzed to achieve two objectives: (1) explore, reveal, and assess the significance of spatial effects, i.e., spatial dependence and heterogeneity, in the system behavior, and (2) develop a behavioral market segmentation and trend mining of the willingness to share. This is linked to the diagnostic analytics layer, as the revealed spatial effects motivates the adoption of spatial econometric models to analytically identify the ride-sourcing system determinants. Multiple linear regression (MLR) is used as a benchmark model against spatial error model (SEM), spatially lagged X (SLX) model, and geographically weighted regression (GWR) model. Two innovative modeling constructs are introduced deal with the ride-sourcing system’s spatial effects and multicollinearity: (1) Calibrated Spatially Lagged X Ridge Model (CSLXR) and Calibrated Geographically Weighted Ridge Regression (CGWRR) in the diagnostic analytics layer. The identified determinants in the diagnostic analytics layer are then fed into the predictive analytics one to develop an interpretable machine learning (ML) modeling framework. The system’s annual average weekday origin-destination (AAWD OD) flow is modeled using the following state-of-the-art ML models: (1) Multilayer Perceptron (MLP) Regression, (2) Support Vector Machines Regression (SVR), and (3) Tree-based ensemble learning methods, i.e., Random Forest Regression (RFR) and Extreme Gradient Boosting (XGBoost). The innovative modeling construct of CGWRR developed in the diagnostic analytics is then validated in a predictive context and is found to outperform the state-of-the-art ML models in terms of testing score of 0.914, in comparison to 0.906 for XGBoost, 0.84 for RFR, 0.89 for SVR, and 0.86 for MLP. The CGWRR exhibits outperformance as well in terms of the root mean squared error (RMSE) and mean average error (MAE). The findings of this dissertation partially bridge the gap between the practice and the research on ride-sourcing transportation systems understanding and integration. The empirical findings made in the descriptive and explorative analytics can be further utilized by regional agencies to fill practice and policymaking gaps on regulating ride-sourcing services using corridor or cordon toll, optimally allocating standing areas to minimize deadheading, especially during off-peak periods, and promoting the ride-share willingness in disadvantage communities. The CGWRR provides a reliable modeling and simulation tool to researchers and practitioners to integrate the ride-sourcing system in multimodal transportation modeling frameworks, simulation testbed for testing long-range impacts of policies on ride-sourcing, like improved transit supply, congestions pricing, or increased parking rates, and to plan ahead for similar futuristic transportation modes, like the shared autonomous vehicles

Gradient boosting in automatic machine learning: feature selection and hyperparameter optimization

Das Ziel des automatischen maschinellen Lernens (AutoML) ist es, alle Aspekte der Modellwahl in prädiktiver Modellierung zu automatisieren. Diese Arbeit beschäftigt sich mit Gradienten Boosting im Kontext von AutoML mit einem Fokus auf Gradient Tree Boosting und komponentenweisem Boosting. Beide Techniken haben eine gemeinsame Methodik, aber ihre Zielsetzung ist unterschiedlich. Während Gradient Tree Boosting im maschinellen Lernen als leistungsfähiger Vorhersagealgorithmus weit verbreitet ist, wurde komponentenweises Boosting im Rahmen der Modellierung hochdimensionaler Daten entwickelt. Erweiterungen des komponentenweisen Boostings auf multidimensionale Vorhersagefunktionen werden in dieser Arbeit ebenfalls untersucht. Die Herausforderung der Hyperparameteroptimierung wird mit Fokus auf Bayesianische Optimierung und effiziente Stopping-Strategien diskutiert. Ein groß angelegter Benchmark über Hyperparameter verschiedener Lernalgorithmen, zeigt den kritischen Einfluss von Hyperparameter Konfigurationen auf die Qualität der Modelle. Diese Daten können als Grundlage für neue AutoML- und Meta-Lernansätze verwendet werden. Darüber hinaus werden fortgeschrittene Strategien zur Variablenselektion zusammengefasst und eine neue Methode auf Basis von permutierten Variablen vorgestellt. Schließlich wird ein AutoML-Ansatz vorgeschlagen, der auf den Ergebnissen und Best Practices für die Variablenselektion und Hyperparameteroptimierung basiert. Ziel ist es AutoML zu vereinfachen und zu stabilisieren sowie eine hohe Vorhersagegenauigkeit zu gewährleisten. Dieser Ansatz wird mit AutoML-Methoden, die wesentlich komplexere Suchräume und Ensembling Techniken besitzen, verglichen. Vier Softwarepakete für die statistische Programmiersprache R sind Teil dieser Arbeit, die neu entwickelt oder erweitert wurden: mlrMBO: Ein generisches Paket für die Bayesianische Optimierung; autoxgboost: Ein AutoML System, das sich vollständig auf Gradient Tree Boosting fokusiert; compboost: Ein modulares, in C++ geschriebenes Framework für komponentenweises Boosting; gamboostLSS: Ein Framework für komponentenweises Boosting additiver Modelle für Location, Scale und Shape.The goal of automatic machine learning (AutoML) is to automate all aspects of model selection in (supervised) predictive modeling. This thesis deals with gradient boosting techniques in the context of AutoML with a focus on gradient tree boosting and component-wise gradient boosting. Both techniques have a common methodology, but their goal is quite different. While gradient tree boosting is widely used in machine learning as a powerful prediction algorithm, component-wise gradient boosting strength is in feature selection and modeling of high-dimensional data. Extensions of component-wise gradient boosting to multidimensional prediction functions are considered as well. Focusing on Bayesian optimization and efficient early stopping strategies the challenge of hyperparameter optimization for these algorithms is discussed. Difficulty in the optimization of these algorithms is shown by a large scale random search on hyperparameters for machine learning algorithms, that can build the foundation of new AutoML and metalearning approaches. Furthermore, advanced feature selection strategies are summarized and a new method based on shadow features is introduced. Finally, an AutoML approach based on the results and best practices for feature selection and hyperparameter optimization is proposed, with the goal of simplifying and stabilizing AutoML while maintaining high prediction accuracy. This is compared to AutoML approaches using much more complex search spaces and ensembling techniques. Four software packages for the statistical programming language R have been newly developed or extended as a part of this thesis: mlrMBO: A general framework for Bayesian optimization; autoxgboost: An automatic machine learning framework that heavily utilizes gradient tree boosting; compboost: A modular framework for component-wise boosting written in C++; gamboostLSS: A framework for component-wise boosting for generalized additive models for location scale and shape