Patrolling a Street Network is Strongly NP-Complete but in P for Tree Structures

We consider the following problem: Given a finite set of straight line segments in the plane, determine the positions of a minimal number of points on the segments, from which guards can see all segments. This problem can be interpreted as looking for a minimal number of locations of policemen, guards, cameras or other sensors, that can observe a network of streets, corridors, tunnels, tubes, etc. We show that the problem is strongly NP-complete even for a set of segments with a cubic graph structure, but in P for tree structures

Arc routing problems: A review of the past, present, and future

[EN] Arc routing problems (ARPs) are defined and introduced. Following a brief history of developments in this area of research, different types of ARPs are described that are currently relevant for study. In addition, particular features of ARPs that are important from a theoretical or practical point of view are discussed. A section on applications describes some of the changes that have occurred from early applications of ARP models to the present day and points the way to emerging topics for study. A final section provides information on libraries and instance repositories for ARPs. The review concludes with some perspectives on future research developments and opportunities for emerging applicationsThis research was supported by the Ministerio de Economia y Competitividad and Fondo Europeo de Desarrollo Regional, Grant/Award Number: PGC2018-099428-B-I00. The Research Council of Norway, Grant/Award Numbers: 246825/O70 (DynamITe), 263031/O70 (AXIOM).Corberán, Á.; Eglese, R.; Hasle, G.; Plana, I.; Sanchís Llopis, JM. (2021). Arc routing problems: A review of the past, present, and future. Networks. 77(1):88-115. https://doi.org/10.1002/net.21965S8811577

Cultural Politics of Community-Based Conservation in the Buffer Zone of Chitwan National Park, Nepal

The dissertation research examines the socio-economic and political effects of community-based conservation initiatives within the Bagmara buffer zone community forests of Chitwan National Park, Nepal. In particular, the study investigates the role of buffer zones creation in structuring the way rural property rights have been defined, negotiated, and contested, in reinforcing or reducing patterns of ethnic dominance and exclusion, and in influencing how cultural identities are constituted and renegotiated. Using a political ecology framework with a specific focus on theoretical concepts of environmentality and territorialization, I conducted 12 months ethnographic and quantitative survey field research in the buffer zone communities of Chitwan National Park. I focused on documenting socioeconomic conditions and livelihood practices, and interpreting the meanings of residents’ lived experiences. In addition, I critically examined state and non-state conservation and development practices to understand how they work to produce identities, livelihoods, and landscapes in the park’s buffer zone. The ethnographic study documented diverse impacts of community-based conservation initiatives. One of the major effects is the distribution of costs and benefits, specifically elite capture of community forest and tourism benefits. Second is the existing conflict and potential conflict over the control of access, benefits, and territory based on social and cultural identities. Third is the reproduction of caste, ethnic, and class hierarchies. Fourth is the militarization of communities in and around the buffer zone and community forest. Fifth is the production of environmental and non-environmental subjects such as illegals and poachers. Finally, the sixth is the commodification of conservation spaces and subsequent ecological impacts. The research concludes that the discursive representation of humans and non-humans and the discourses and practices of economic development and biodiversity conservation produced and reproduced a number of negative social, political, and ecological consequences in the buffer zone of CNP. This dissertation concluded that the conservation and development practices are territorial projects to govern people and nature

Evolutionary Computation

This book presents several recent advances on Evolutionary Computation, specially evolution-based optimization methods and hybrid algorithms for several applications, from optimization and learning to pattern recognition and bioinformatics. This book also presents new algorithms based on several analogies and metafores, where one of them is based on philosophy, specifically on the philosophy of praxis and dialectics. In this book it is also presented interesting applications on bioinformatics, specially the use of particle swarms to discover gene expression patterns in DNA microarrays. Therefore, this book features representative work on the field of evolutionary computation and applied sciences. The intended audience is graduate, undergraduate, researchers, and anyone who wishes to become familiar with the latest research work on this field

Scene Segmentation and Object Classification for Place Recognition

This dissertation tries to solve the place recognition and loop closing problem in a way similar to human visual system. First, a novel image segmentation algorithm is developed. The image segmentation algorithm is based on a Perceptual Organization model, which allows the image segmentation algorithm to ‘perceive’ the special structural relations among the constituent parts of an unknown object and hence to group them together without object-specific knowledge. Then a new object recognition method is developed. Based on the fairly accurate segmentations generated by the image segmentation algorithm, an informative object description that includes not only the appearance (colors and textures), but also the parts layout and shape information is built. Then a novel feature selection algorithm is developed. The feature selection method can select a subset of features that best describes the characteristics of an object class. Classifiers trained with the selected features can classify objects with high accuracy. In next step, a subset of the salient objects in a scene is selected as landmark objects to label the place. The landmark objects are highly distinctive and widely visible. Each landmark object is represented by a list of SIFT descriptors extracted from the object surface. This object representation allows us to reliably recognize an object under certain viewpoint changes. To achieve efficient scene-matching, an indexing structure is developed. Both texture feature and color feature of objects are used as indexing features. The texture feature and the color feature are viewpoint-invariant and hence can be used to effectively find the candidate objects with similar surface characteristics to a query object. Experimental results show that the object-based place recognition and loop detection method can efficiently recognize a place in a large complex outdoor environment

Graph-based Algorithms for Smart Mobility Planning and Large-scale Network Discovery

Graph theory has become a hot topic in the past two decades as evidenced by the increasing number of citations in research. Its applications are found in many fields, e.g. database, clustering, routing, etc. In this thesis, two novel graph-based algorithms are presented. The first algorithm finds itself in the thriving carsharing service, while the second algorithm is about large graph discovery to unearth the unknown graph before any analyses can be performed. In the first scenario, the automatisation of the fleet planning process in carsharing is proposed. The proposed work enhances the accuracy of the planning to the next level by taking an advantage of the open data movement such as street networks, building footprints, and demographic data. By using the street network (based on graph), it solves the questionable aspect in many previous works, feasibility as they tended to use rasterisation to simplify the map, but that comes with the price of accuracy and feasibility. A benchmark suite for further research in this problem is also provided. Along with it, two optimisation models with different sets of objectives and contexts are proposed. Through a series of experiment, a novel hybrid metaheuristic algorithm is proposed. The algorithm is called NGAP, which is based on Reference Point based Non-dominated Sorting genetic Algorithm (NSGA-III) and Pareto Local Search (PLS) and a novel problem specific local search operator designed for the fleet placement problem in carsharing called Extensible Neighbourhood Search (ENS). The designed local search operator exploits the graph structure of the street network and utilises the local knowledge to improve the exploration capability. The results show that the proposed hybrid algorithm outperforms the original NSGA-III in convergence under the same execution time. The work in smart mobility is done on city scale graphs which are considered to be medium size. However, the scale of the graphs in other fields in the real-world can be much larger than that which is why the large graph discovery algorithm is proposed as the second algorithm. To elaborate on the definition of large, some examples are required. The internet graph has over 30 billion nodes. Another one is a human brain network contains around 1011 nodes. Apart of the size, there is another aspect in real-world graph and that is the unknown. With the dynamic nature of the real-world graphs, it is almost impossible to have a complete knowledge of the graph to perform an analysis that is why graph traversal is crucial as the preparation process. I propose a novel memoryless chaos-based graph traversal algorithm called Chaotic Traversal (CHAT). CHAT is the first graph traversal algorithm that utilises the chaotic attractor directly. An experiment with two well-known chaotic attractors, Lozi map and Rössler system is conducted. The proposed algorithm is compared against the memoryless state-of-the-art algorithm, Random Walk. The results demonstrate the superior performance in coverage rate over Random Walk on five tested topologies; ring, small world, random, grid and power-law. In summary, the contribution of this research is twofold. Firstly, it contributes to the research society by introducing new study problems and novel approaches to propel the advance of the current state-of-the-art. And Secondly, it demonstrates a strong case for the conversion of research to the industrial sector to solve a real-world problem

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

Investigating and extending the methods in automated opinion analysis through improvements in phrase based analysis

Opinion analysis is an area of research which deals with the computational treatment of opinion statement and subjectivity in textual data. Opinion analysis has emerged over the past couple of decades as an active area of research, as it provides solutions to the issues raised by information overload. The problem of information overload has emerged with the advancements in communication technologies which gave rise to an exponential growth in user generated subjective data available online. Opinion analysis has a rich set of applications which are used to enable opportunities for organisations such as tracking user opinions about products, social issues in communities through to engagement in political participation etc.The opinion analysis area shows hyperactivity in recent years and research at different levels of granularity has, and is being undertaken. However it is observed that there are limitations in the state-of-the-art, especially as dealing with the level of granularities on their own does not solve current research issues. Therefore a novel sentence level opinion analysis approach utilising clause and phrase level analysis is proposed. This approach uses linguistic and syntactic analysis of sentences to understand the interdependence of words within sentences, and further uses rule based analysis for phrase level analysis to calculate the opinion at each hierarchical structure of a sentence. The proposed opinion analysis approach requires lexical and contextual resources for implementation. In the context of this Thesis the approach is further presented as part of an extended unifying framework for opinion analysis resulting in the design and construction of a novel corpus. The above contributions to the field (approach, framework and corpus) are evaluated within the Thesis and are found to make improvements on existing limitations in the field, particularly with regards to opinion analysis automation. Further work is required in integrating a mechanism for greater word sense disambiguation and in lexical resource development