Probabilistic Methodology and Techniques for Artefact Conception and Development

The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art

Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios

A Multiple Cascade-Classifier System for a Robust and Partially Unsupervised Updating of Land-Cover Maps

A system for a regular updating of land-cover maps is proposed that is based on the use of multitemporal remote-sensing images. Such a system is able to face the updating problem under the realistic but critical constraint that, for the image to be classified (i.e., the most recent of the considered multitemporal data set), no ground truth information is available. The system is composed of an ensemble of partially unsupervised classifiers integrated in a multiple classifier architecture. Each classifier of the ensemble exhibits the following novel peculiarities: i) it is developed in the framework of the cascade-classification approach to exploit the temporal correlation existing between images acquired at different times in the considered area; ii) it is based on a partially unsupervised methodology capable to accomplish the classification process under the aforementioned critical constraint. Both a parametric maximum-likelihood classification approach and a non-parametric radial basis function (RBF) neural-network classification approach are used as basic methods for the development of partially unsupervised cascade classifiers. In addition, in order to generate an effective ensemble of classification algorithms, hybrid maximum-likelihood and RBF neural network cascade classifiers are defined by exploiting the peculiarities of the cascade-classification methodology. The results yielded by the different classifiers are combined by using standard unsupervised combination strategies. This allows the definition of a robust and accurate partially unsupervised classification system capable of analyzing a wide typology of remote-sensing data (e.g., images acquired by passive sensors, SAR images, multisensor and multisource data). Experimental results obtained on a real multitemporal and multisource data set confirm the effectiveness of the proposed system