7,444 research outputs found
General combination rules for qualitative and quantitative beliefs
Martin and Osswald \cite{Martin07} have recently proposed many
generalizations of combination rules on quantitative beliefs in order to manage
the conflict and to consider the specificity of the responses of the experts.
Since the experts express themselves usually in natural language with
linguistic labels, Smarandache and Dezert \cite{Li07} have introduced a
mathematical framework for dealing directly also with qualitative beliefs. In
this paper we recall some element of our previous works and propose the new
combination rules, developed for the fusion of both qualitative or quantitative
beliefs
Differentiable Algorithm Networks for Composable Robot Learning
This paper introduces the Differentiable Algorithm Network (DAN), a
composable architecture for robot learning systems. A DAN is composed of neural
network modules, each encoding a differentiable robot algorithm and an
associated model; and it is trained end-to-end from data. DAN combines the
strengths of model-driven modular system design and data-driven end-to-end
learning. The algorithms and models act as structural assumptions to reduce the
data requirements for learning; end-to-end learning allows the modules to adapt
to one another and compensate for imperfect models and algorithms, in order to
achieve the best overall system performance. We illustrate the DAN methodology
through a case study on a simulated robot system, which learns to navigate in
complex 3-D environments with only local visual observations and an image of a
partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at
https://youtu.be/4jcYlTSJF4
Preliminary space mission design under uncertainty
This paper proposes a way to model uncertainties and to introduce them explicitly in the design process of a preliminary space mission. Traditionally, a system margin approach is used in order to take the min to account. In this paper, Evidence Theory is proposed to crystallise the inherent uncertainties. The design process is then formulated as an optimisation under uncertainties(OUU). Three techniques are proposed to solve the OUU problem: (a) an evolutionary multi-objective approach, (b) a step technique consisting of maximising the belief for different levels of performance, and (c) a clustering method that firstly identifies feasible regions.The three methods are applied to the Bepi Colombo mission and their effectiveness at solving the OUU problem are compared
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