Local Maximum Stable Sets Greedoids Stemmed from Very Well-Covered Graphs

A maximum stable set in a graph G is a stable set of maximum cardinality. S is called a local maximum stable set of G if S is a maximum stable set of the subgraph induced by the closed neighborhood of S. A greedoid (V,F) is called a local maximum stable set greedoid if there exists a graph G=(V,E) such that its family of local maximum stable sets coinsides with (V,F). It has been shown that the family local maximum stable sets of a forest T forms a greedoid on its vertex set. In this paper we demonstrate that if G is a very well-covered graph, then its family of local maximum stable sets is a greedoid if and only if G has a unique perfect matching.Comment: 12 pages, 12 figure

Tree Graphs and Orthogonal Spanning Tree Decompositions

Given a graph G, we construct T(G), called the tree graph of G. The vertices of T(G) are the spanning trees of G, with edges between vertices when their respective spanning trees differ only by a single edge. In this paper we detail many new results concerning tree graphs, involving topics such as clique decomposition, planarity, and automorphism groups. We also investigate and present a number of new results on orthogonal tree decompositions of complete graphs

Active Information Acquisition With Mobile Robots

The recent proliferation of sensors and robots has potential to transform fields as diverse as environmental monitoring, security and surveillance, localization and mapping, and structure inspection. One of the great technical challenges in these scenarios is to control the sensors and robots in order to extract accurate information about various physical phenomena autonomously. The goal of this dissertation is to provide a unified approach for active information acquisition with a team of sensing robots. We formulate a decision problem for maximizing relevant information measures, constrained by the motion capabilities and sensing modalities of the robots, and focus on the design of a scalable control strategy for the robot team. The first part of the dissertation studies the active information acquisition problem in the special case of linear Gaussian sensing and mobility models. We show that the classical principle of separation between estimation and control holds in this case. It enables us to reduce the original stochastic optimal control problem to a deterministic version and to provide an optimal centralized solution. Unfortunately, the complexity of obtaining the optimal solution scales exponentially with the length of the planning horizon and the number of robots. We develop approximation algorithms to manage the complexity in both of these factors and provide theoretical performance guarantees. Applications in gas concentration mapping, joint localization and vehicle tracking in sensor networks, and active multi-robot localization and mapping are presented. Coupled with linearization and model predictive control, our algorithms can even generate adaptive control policies for nonlinear sensing and mobility models. Linear Gaussian information seeking, however, cannot be applied directly in the presence of sensing nuisances such as missed detections, false alarms, and ambiguous data association or when some sensor observations are discrete (e.g., object classes, medical alarms) or, even worse, when the sensing and target models are entirely unknown. The second part of the dissertation considers these complications in the context of two applications: active localization from semantic observations (e.g, recognized objects) and radio signal source seeking. The complexity of the target inference problem forces us to resort to greedy planning of the sensor trajectories. Non-greedy closed-loop information acquisition with general discrete models is achieved in the final part of the dissertation via dynamic programming and Monte Carlo tree search algorithms. Applications in active object recognition and pose estimation are presented. The techniques developed in this thesis offer an effective and scalable approach for controlled information acquisition with multiple sensing robots and have broad applications to environmental monitoring, search and rescue, security and surveillance, localization and mapping, precision agriculture, and structure inspection

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties