5,631 research outputs found
Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel
This paper describes the design, implementation and testing of a suite of
algorithms to enable depth constrained autonomous bathymetric (underwater
topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth
and a bounding polygon, the ASV will find and follow the intersection of the
bounding polygon and the depth contour as modeled online with a Gaussian
Process (GP). This intersection, once mapped, will then be used as a boundary
within which a path will be planned for coverage to build a map of the
Bathymetry. Methods for sequential updates to GP's are described allowing
online fitting, prediction and hyper-parameter optimisation on a small embedded
PC. New algorithms are introduced for the partitioning of convex polygons to
allow efficient path planning for coverage. These algorithms are tested both in
simulation and in the field with a small twin hull differential thrust vessel
built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field
Robotic
Domain-Agnostic Batch Bayesian Optimization with Diverse Constraints via Bayesian Quadrature
Real-world optimisation problems often feature complex combinations of (1)
diverse constraints, (2) discrete and mixed spaces, and are (3) highly
parallelisable. (4) There are also cases where the objective function cannot be
queried if unknown constraints are not satisfied, e.g. in drug discovery,
safety on animal experiments (unknown constraints) must be established before
human clinical trials (querying objective function) may proceed. However, most
existing works target each of the above three problems in isolation and do not
consider (4) unknown constraints with query rejection. For problems with
diverse constraints and/or unconventional input spaces, it is difficult to
apply these techniques as they are often mutually incompatible. We propose
cSOBER, a domain-agnostic prudent parallel active sampler for Bayesian
optimisation, based on SOBER of Adachi et al. (2023). We consider infeasibility
under unknown constraints as a type of integration error that we can estimate.
We propose a theoretically-driven approach that propagates such error as a
tolerance in the quadrature precision that automatically balances exploitation
and exploration with the expected rejection rate. Moreover, our method flexibly
accommodates diverse constraints and/or discrete and mixed spaces via adaptive
tolerance, including conventional zero-risk cases. We show that cSOBER
outperforms competitive baselines on diverse real-world blackbox-constrained
problems, including safety-constrained drug discovery, and
human-relationship-aware team optimisation over graph-structured space.Comment: 24 pages, 5 figure
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