Front Propagation in Random Media

This PhD thesis deals with the problem of the propagation of fronts under random circumstances. A statistical model to represent the motion of fronts when are evolving in a media characterized by microscopical randomness is discussed and expanded, in order to cope with three distinct applications: wild-land fire simulation, turbulent premixed combustion, biofilm modeling. In the studied formalism, the position of the average front is computed by making use of a sharp-front evolution method, such as the level set method. The microscopical spread of particles which takes place around the average front is given by the probability density function linked to the underlying diffusive process, that is supposedly known in advance. The adopted statistical front propagation framework allowed a deeper understanding of any studied field of application. The application of this model introduced eventually parameters whose impact on the physical observables of the front spread have been studied with Uncertainty Quantification and Sensitivity Analysis tools. In particular, metamodels for the front propagation system have been constructed in a non intrusive way, by making use of generalized Polynomial Chaos expansions and Gaussian Processes.The Thesis received funding from Basque Government through the BERC 2014-2017 program. It was also funded by the Spanish Ministry of Economy and Competitiveness MINECO via the BCAM Severo Ochoa SEV-2013-0323 accreditation. The PhD is fundend by La Caixa Foundation through the PhD grant “La Caixa 2014”. Funding from “Programma Operativo Nazionale Ricerca e Innovazione” (PONRI 2014-2020) , “Innotavive PhDs with Industrial Characterization” is kindly acknowledged for a research visit at the department of Mathematics and Applications “Renato Caccioppoli” of University “Federico II” of Naples

Efficient Mission Planning for Robot Networks in Communication Constrained Environments

Many robotic systems are remotely operated nowadays that require uninterrupted connection and safe mission planning. Such systems are commonly found in military drones, search and rescue operations, mining robotics, agriculture, and environmental monitoring. Different robotic systems may employ disparate communication modalities such as radio network, visible light communication, satellite, infrared, Wi-Fi. However, in an autonomous mission where the robots are expected to be interconnected, communication constrained environment frequently arises due to the out of range problem or unavailability of the signal. Furthermore, several automated projects (building construction, assembly line) do not guarantee uninterrupted communication, and a safe project plan is required that optimizes collision risks, cost, and duration. In this thesis, we propose four pronged approaches to alleviate some of these issues: 1) Communication aware world mapping; 2) Communication preserving using the Line-of-Sight (LoS); 3) Communication aware safe planning; and 4) Multi-Objective motion planning for navigation. First, we focus on developing a communication aware world map that integrates traditional world models with the planning of multi-robot placement. Our proposed communication map selects the optimal placement of a chain of intermediate relay vehicles in order to maximize communication quality to a remote unit. We also vi propose an algorithm to build a min-Arborescence tree when there are multiple remote units to be served. Second, in communication denied environments, we use Line-of-Sight (LoS) to establish communication between mobile robots, control their movements and relay information to other autonomous units. We formulate and study the complexity of a multi-robot relay network positioning problem and propose approximation algorithms that restore visibility based connectivity through the relocation of one or more robots. Third, we develop a framework to quantify the safety score of a fully automated robotic mission where the coexistence of human and robot may pose a collision risk. A number of alternate mission plans are analyzed using motion planning algorithms to select the safest one. Finally, an efficient multi-objective optimization based path planning for the robots is developed to deal with several Pareto optimal cost attributes

Simulator adaptation at runtime for component-based simulation software

Component-based simulation software can provide many opportunities to compose and configure simulators, resulting in an algorithm selection problem for the user of this software. This thesis aims to automate the selection and adaptation of simulators at runtime in an application-independent manner. Further, it explores the potential of tailored and approximate simulators - in this thesis concretely developed for the modeling language ML-Rules - supporting the effectiveness of the adaptation scheme.Komponenten-basierte Simulationssoftware kann viele Möglichkeiten zur Komposition und Konfiguration von Simulatoren bieten und damit zu einem Konfigurationsproblem für Nutzer dieser Software führen. Das Ziel dieser Arbeit ist die Entwicklung einer generischen und automatisierten Auswahl- und Adaptionsmethode für Simulatoren. Darüber hinaus wird das Potential von spezifischen und approximativen Simulatoren anhand der Modellierungssprache ML-Rules untersucht, welche die Effektivität des entwickelten Adaptionsmechanismus erhöhen können

Advances in Remote Sensing-based Disaster Monitoring and Assessment

Remote sensing data and techniques have been widely used for disaster monitoring and assessment. In particular, recent advances in sensor technologies and artificial intelligence-based modeling are very promising for disaster monitoring and readying responses aimed at reducing the damage caused by disasters. This book contains eleven scientific papers that have studied novel approaches applied to a range of natural disasters such as forest fire, urban land subsidence, flood, and tropical cyclones