4,965 research outputs found
Distributed data association for multi-target tracking in sensor networks
Associating sensor measurements with target tracks is a fundamental and challenging problem in multi-target tracking. The problem is even more
challenging in the context of sensor networks, since association is coupled
across the network, yet centralized data processing is in general
infeasible due to power and bandwidth limitations. Hence efficient, distributed solutions are needed. We propose techniques based on graphical models to efficiently solve such data association problems in sensor networks. Our approach scales well with the number of sensor nodes in the network, and it is well--suited for distributed implementation. Distributed inference is realized by a message--passing algorithm which requires iterative, parallel exchange of information among neighboring nodes on the graph. So as to address trade--offs between inference performance and communication costs, we also propose a communication--sensitive form of message--passing that is capable of achieving near--optimal performance using far less communication. We demonstrate the effectiveness of our approach with experiments on simulated data
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Human-Machine Collaborative Optimization via Apprenticeship Scheduling
Coordinating agents to complete a set of tasks with intercoupled temporal and
resource constraints is computationally challenging, yet human domain experts
can solve these difficult scheduling problems using paradigms learned through
years of apprenticeship. A process for manually codifying this domain knowledge
within a computational framework is necessary to scale beyond the
``single-expert, single-trainee" apprenticeship model. However, human domain
experts often have difficulty describing their decision-making processes,
causing the codification of this knowledge to become laborious. We propose a
new approach for capturing domain-expert heuristics through a pairwise ranking
formulation. Our approach is model-free and does not require enumerating or
iterating through a large state space. We empirically demonstrate that this
approach accurately learns multifaceted heuristics on a synthetic data set
incorporating job-shop scheduling and vehicle routing problems, as well as on
two real-world data sets consisting of demonstrations of experts solving a
weapon-to-target assignment problem and a hospital resource allocation problem.
We also demonstrate that policies learned from human scheduling demonstration
via apprenticeship learning can substantially improve the efficiency of a
branch-and-bound search for an optimal schedule. We employ this human-machine
collaborative optimization technique on a variant of the weapon-to-target
assignment problem. We demonstrate that this technique generates solutions
substantially superior to those produced by human domain experts at a rate up
to 9.5 times faster than an optimization approach and can be applied to
optimally solve problems twice as complex as those solved by a human
demonstrator.Comment: Portions of this paper were published in the Proceedings of the
International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and
in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper
consists of 50 pages with 11 figures and 4 table
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