CPC: Crime, Policing and Citizenship - Intelligent Policing and Big Data

Crime, Policing and Citizenship (CPC) – Space-Time Interactions of Dynamic Networks has been a major UK EPSRC-funded research project. It has been a multidisciplinary collaboration of geoinformatics, crime science, computer science and geography within University College London (UCL), in partnership with the Metropolitan Police Service (MPS). The aim of the project has been to develop new methods and applications in space-time analytics and emergent network complexity, in order to uncover patterning and interactions in crime, policing and citizen perceptions. The work carried out throughout the project will help inform policing at a range of scales, from the local to the city-wide, with the goal of reducing both crime and the fear of crime. The CPC project is timely given the tremendous challenging facing policing in big cities nationally and globally, as consequences of changes in society, population structure and economic well-being. It addresses these issues through an intelligent approach to data-driven policing, using daily reported crime statistics, GPS traces of foot and vehicular patrols, surveys of public attitudes and geo-temporal demographic data of changing community structure. The analytic focus takes a spatio-temporal perspective, reflecting the strong spatial and temporal integration of criminal, policing and citizen activities. Street networks are used throughout as a basis for analysis, reflecting their role as a key determinant of urban structure and the substrate on which crime and policing take place. The project has presented a manifesto for ‘intelligent policing’ which embodies the key issues arising in the transition from Big Data into actionable insights. Police intelligence should go beyond current practice, incorporating not only the prediction of events, but also how to respond to them, and how to evaluate the actions taken. Cutting-edge network-based crime prediction methods have been developed to accurately predict crime risks at street segment level, helping police forces to focus resources in the right places at the right times. Methods and tools have been implemented to support senior offices in strategic planning, and to provide guidance to frontline officers in daily patrolling. To evaluate police performance, models and tools have been developed to aid identification of areas requiring greater attention, and to analyse the patrolling behaviours of officers. Methods to understand and model confidence in policing have also been explored, suggesting strategies by which confidence in the police can be improved in different population segments and neighbourhood areas. A number of tools have been developed during the course of the project include data-driven methods for crime prediction and for performance evaluation. We anticipate that these will ultimately be adopted in daily policing practice and will play an important role in the modernisation of policing. Furthermore, we believe that the approaches to the building of public trust and confidence that we suggest will contribute to the transformation and improvement of the relationship between the public and police

A Framework for Collaborative Multi-task, Multi-robot Missions

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners. This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. Using this approach, the designer is able to compensate for non-ideal behavior in the appropriate space using whatever control scheme they choose. This work presents a general design methodology, including analysis techniques for relevant control metrics like stability, responsiveness, and disturbance rejection, which were missing in prior work. Multiple tasks may be combined into a collaborative mission. The unified motion control architecture merges the control space components for each task into a concise federated system to facilitate analysis and implementation. The task coordination function defines task commands as functions of mission commands and state values to create explicit closed-loop collaboration. This work presents analysis techniques to understand the effects of cross-coupling tasks. This work analyzes system stability for the particular control architecture and identifies an explicit condition to ensure stable switching when reallocating robots. We are unaware of any other automated control architectures that address large-scale collaborative systems composed of task-oriented multi-robot coalitions where relative spatial control is critical to mission performance. This architecture and methodology have been validated in experiments and in simulations, repeating earlier work and exploring new scenarios and. It can perform large-scale, complex missions via a rigorous design methodology

Crossmodal Attentive Skill Learner

This paper presents the Crossmodal Attentive Skill Learner (CASL), integrated with the recently-introduced Asynchronous Advantage Option-Critic (A2OC) architecture [Harb et al., 2017] to enable hierarchical reinforcement learning across multiple sensory inputs. We provide concrete examples where the approach not only improves performance in a single task, but accelerates transfer to new tasks. We demonstrate the attention mechanism anticipates and identifies useful latent features, while filtering irrelevant sensor modalities during execution. We modify the Arcade Learning Environment [Bellemare et al., 2013] to support audio queries, and conduct evaluations of crossmodal learning in the Atari 2600 game Amidar. Finally, building on the recent work of Babaeizadeh et al. [2017], we open-source a fast hybrid CPU-GPU implementation of CASL.Comment: International Conference on Autonomous Agents and Multiagent Systems (AAMAS) 2018, NIPS 2017 Deep Reinforcement Learning Symposiu

3D multi-robot patrolling with a two-level coordination strategy

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling process. This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference. The first level guides the agents to single out exclusive target nodes on a topological map. This target selection relies on a shared idleness representation and a coordination mechanism preventing topological conflicts. The second level hosts coordination strategies based on a metric representation of space and is supported by a 3D SLAM system. Here, each robot path planner negotiates spatial conflicts by applying a multi-robot traversability function. Continuous interactions between these two levels ensure coordination and conflicts resolution. Both simulations and real-world experiments are presented to validate the performances of the proposed patrolling strategy in 3D environments. Results show this is a promising solution for managing spatial conflicts and preventing deadlocks