57,224 research outputs found

    Interactive Perception Based on Gaussian Process Classification for House-Hold Objects Recognition and Sorting

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    We present an interactive perception model for object sorting based on Gaussian Process (GP) classification that is capable of recognizing objects categories from point cloud data. In our approach, FPFH features are extracted from point clouds to describe the local 3D shape of objects and a Bag-of-Words coding method is used to obtain an object-level vocabulary representation. Multi-class Gaussian Process classification is employed to provide and probable estimation of the identity of the object and serves a key role in the interactive perception cycle – modelling perception confidence. We show results from simulated input data on both SVM and GP based multi-class classifiers to validate the recognition accuracy of our proposed perception model. Our results demonstrate that by using a GP-based classifier, we obtain true positive classification rates of up to 80%. Our semi-autonomous object sorting experiments show that the proposed GP based interactive sorting approach outperforms random sorting by up to 30% when applied to scenes comprising configurations of household objects

    Edge- and Node-Disjoint Paths in P Systems

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    In this paper, we continue our development of algorithms used for topological network discovery. We present native P system versions of two fundamental problems in graph theory: finding the maximum number of edge- and node-disjoint paths between a source node and target node. We start from the standard depth-first-search maximum flow algorithms, but our approach is totally distributed, when initially no structural information is available and each P system cell has to even learn its immediate neighbors. For the node-disjoint version, our P system rules are designed to enforce node weight capacities (of one), in addition to edge capacities (of one), which are not readily available in the standard network flow algorithms.Comment: In Proceedings MeCBIC 2010, arXiv:1011.005

    The solvability of consensus in iterated models extended with safe-consensus

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    The safe-consensus task was introduced by Afek, Gafni and Lieber (DISC'09) as a weakening of the classic consensus. When there is concurrency, the consensus output can be arbitrary, not even the input of any process. They showed that safe-consensus is equivalent to consensus, in a wait-free system. We study the solvability of consensus in three shared memory iterated models extended with the power of safe-consensus black boxes. In the first model, for the ii-th iteration, processes write to the memory, invoke safe-consensus boxes and finally they snapshot the memory. We show that in this model, any wait-free implementation of consensus requires (n2)\binom{n}{2} safe-consensus black-boxes and this bound is tight. In a second iterated model, the processes write to memory, then they snapshot it and finally they invoke safe-consensus boxes. We prove that in this model, consensus cannot be implemented. In the last iterated model, processes first invoke safe-consensus, then they write to memory and finally they snapshot it. We show that this model is equivalent to the previous model and thus consensus cannot be implemented.Comment: 49 pages, A preliminar version of the main results appeared in the SIROCCO 2014 proceeding

    A Duality-Based Approach for Distributed Optimization with Coupling Constraints

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    In this paper we consider a distributed optimization scenario in which a set of agents has to solve a convex optimization problem with separable cost function, local constraint sets and a coupling inequality constraint. We propose a novel distributed algorithm based on a relaxation of the primal problem and an elegant exploration of duality theory. Despite its complex derivation based on several duality steps, the distributed algorithm has a very simple and intuitive structure. That is, each node solves a local version of the original problem relaxation, and updates suitable dual variables. We prove the algorithm correctness and show its effectiveness via numerical computations

    On Formal Methods for Collective Adaptive System Engineering. {Scalable Approximated, Spatial} Analysis Techniques. Extended Abstract

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    In this extended abstract a view on the role of Formal Methods in System Engineering is briefly presented. Then two examples of useful analysis techniques based on solid mathematical theories are discussed as well as the software tools which have been built for supporting such techniques. The first technique is Scalable Approximated Population DTMC Model-checking. The second one is Spatial Model-checking for Closure Spaces. Both techniques have been developed in the context of the EU funded project QUANTICOL.Comment: In Proceedings FORECAST 2016, arXiv:1607.0200

    System Description for a Scalable, Fault-Tolerant, Distributed Garbage Collector

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    We describe an efficient and fault-tolerant algorithm for distributed cyclic garbage collection. The algorithm imposes few requirements on the local machines and allows for flexibility in the choice of local collector and distributed acyclic garbage collector to use with it. We have emphasized reducing the number and size of network messages without sacrificing the promptness of collection throughout the algorithm. Our proposed collector is a variant of back tracing to avoid extensive synchronization between machines. We have added an explicit forward tracing stage to the standard back tracing stage and designed a tuned heuristic to reduce the total amount of work done by the collector. Of particular note is the development of fault-tolerant cooperation between traces and a heuristic that aggressively reduces the set of suspect objects.Comment: 47 pages, LaTe
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