132,626 research outputs found
Multi-target detection and recognition by UAVs using online POMDPs
This paper tackles high-level decision-making techniques for robotic missions, which involve both active sensing and symbolic goal reaching, under uncertain probabilistic environments and strong time constraints. Our case study is a POMDP model of an online multi-target detection and recognition mission by an autonomous UAV.The POMDP model of the multi-target detection and recognition problem is generated online from a list of areas of interest, which are automatically extracted at the beginning of the flight from a coarse-grained high altitude observation of the scene. The POMDP observation model relies on a statistical abstraction of an image processing algorithm's output used to detect targets. As the POMDP problem cannot be known and thus optimized before the beginning of the flight, our main contribution is an ``optimize-while-execute'' algorithmic framework: it drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints. We present new results from real outdoor flights and SAIL simulations, which highlight both the benefits of using POMDPs in multi-target detection and recognition missions, and of our`optimize-while-execute'' paradigm
Programmability and Performance of Parallel ECS-based Simulation of Multi-Agent Exploration Models
While the traditional objective of parallel/distributed simulation techniques has been mainly in improving performance and making very large models tractable, more recent research trends targeted complementary aspects, such as the “ease of programming”. Along this line, a recent proposal called Event and Cross State (ECS) synchronization, stands as a solution allowing to break the traditional programming rules proper of Parallel Discrete Event Simulation (PDES) systems, where the application code processing a specific event is only allowed to access the state (namely the memory image) of the target simulation object. In fact with ECS, the programmer is allowed to write ANSI-C event-handlers capable of accessing (in either read or write mode) the state of whichever simulation object included in the simulation model. Correct concurrent execution of events, e.g., on top of multi-core machines, is guaranteed by ECS with no intervention by the programmer, who is in practice exposed to a sequential-style programming model where events are processed one at a time, and have the ability to access the current memory image of the whole simulation model, namely the collection of the states of any involved object. This can strongly simplify the development of specific models, e.g., by avoiding the need for passing state information across concurrent objects in the form of events. In this article we investigate on both programmability and performance aspects related to developing/supporting a multi-agent exploration model on top of the ROOT-Sim PDES platform, which supports ECS
Building Near-Real-Time Processing Pipelines with the Spark-MPI Platform
Advances in detectors and computational technologies provide new
opportunities for applied research and the fundamental sciences. Concurrently,
dramatic increases in the three Vs (Volume, Velocity, and Variety) of
experimental data and the scale of computational tasks produced the demand for
new real-time processing systems at experimental facilities. Recently, this
demand was addressed by the Spark-MPI approach connecting the Spark
data-intensive platform with the MPI high-performance framework. In contrast
with existing data management and analytics systems, Spark introduced a new
middleware based on resilient distributed datasets (RDDs), which decoupled
various data sources from high-level processing algorithms. The RDD middleware
significantly advanced the scope of data-intensive applications, spreading from
SQL queries to machine learning to graph processing. Spark-MPI further extended
the Spark ecosystem with the MPI applications using the Process Management
Interface. The paper explores this integrated platform within the context of
online ptychographic and tomographic reconstruction pipelines.Comment: New York Scientific Data Summit, August 6-9, 201
Towards Building Deep Networks with Bayesian Factor Graphs
We propose a Multi-Layer Network based on the Bayesian framework of the
Factor Graphs in Reduced Normal Form (FGrn) applied to a two-dimensional
lattice. The Latent Variable Model (LVM) is the basic building block of a
quadtree hierarchy built on top of a bottom layer of random variables that
represent pixels of an image, a feature map, or more generally a collection of
spatially distributed discrete variables. The multi-layer architecture
implements a hierarchical data representation that, via belief propagation, can
be used for learning and inference. Typical uses are pattern completion,
correction and classification. The FGrn paradigm provides great flexibility and
modularity and appears as a promising candidate for building deep networks: the
system can be easily extended by introducing new and different (in cardinality
and in type) variables. Prior knowledge, or supervised information, can be
introduced at different scales. The FGrn paradigm provides a handy way for
building all kinds of architectures by interconnecting only three types of
units: Single Input Single Output (SISO) blocks, Sources and Replicators. The
network is designed like a circuit diagram and the belief messages flow
bidirectionally in the whole system. The learning algorithms operate only
locally within each block. The framework is demonstrated in this paper in a
three-layer structure applied to images extracted from a standard data set.Comment: Submitted for journal publicatio
PURIFY: a new algorithmic framework for next-generation radio-interferometric imaging
In recent works, compressed sensing (CS) and convex opti- mization techniques have been applied to radio-interferometric imaging showing the potential to outperform state-of-the-art imaging algorithms in the field. We review our latest contributions [1, 2, 3], which leverage the versatility of convex optimization to both handle realistic continuous visibilities and offer a highly parallelizable structure paving the way to significant acceleration of the reconstruction and high-dimensional data scalability. The new algorithmic structure promoted in a new software PURIFY (beta version) relies on the simultaneous-direction method of multipliers (SDMM). The performance of various sparsity priors is evaluated through simulations in the continuous visibility setting, confirming the superiority of our recent average sparsity approach SARA
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