GP-Localize: Persistent Mobile Robot Localization using Online Sparse Gaussian Process Observation Model

Central to robot exploration and mapping is the task of persistent localization in environmental fields characterized by spatially correlated measurements. This paper presents a Gaussian process localization (GP-Localize) algorithm that, in contrast to existing works, can exploit the spatially correlated field measurements taken during a robot's exploration (instead of relying on prior training data) for efficiently and scalably learning the GP observation model online through our proposed novel online sparse GP. As a result, GP-Localize is capable of achieving constant time and memory (i.e., independent of the size of the data) per filtering step, which demonstrates the practical feasibility of using GPs for persistent robot localization and autonomy. Empirical evaluation via simulated experiments with real-world datasets and a real robot experiment shows that GP-Localize outperforms existing GP localization algorithms.Comment: 28th AAAI Conference on Artificial Intelligence (AAAI 2014), Extended version with proofs, 10 page

Local Ranking Problem on the BrowseGraph

The "Local Ranking Problem" (LRP) is related to the computation of a centrality-like rank on a local graph, where the scores of the nodes could significantly differ from the ones computed on the global graph. Previous work has studied LRP on the hyperlink graph but never on the BrowseGraph, namely a graph where nodes are webpages and edges are browsing transitions. Recently, this graph has received more and more attention in many different tasks such as ranking, prediction and recommendation. However, a web-server has only the browsing traffic performed on its pages (local BrowseGraph) and, as a consequence, the local computation can lead to estimation errors, which hinders the increasing number of applications in the state of the art. Also, although the divergence between the local and global ranks has been measured, the possibility of estimating such divergence using only local knowledge has been mainly overlooked. These aspects are of great interest for online service providers who want to: (i) gauge their ability to correctly assess the importance of their resources only based on their local knowledge, and (ii) take into account real user browsing fluxes that better capture the actual user interest than the static hyperlink network. We study the LRP problem on a BrowseGraph from a large news provider, considering as subgraphs the aggregations of browsing traces of users coming from different domains. We show that the distance between rankings can be accurately predicted based only on structural information of the local graph, being able to achieve an average rank correlation as high as 0.8