Enhancing the Transition-based RRT to deal with complex cost spaces

The Transition-based RRT (T-RRT) algorithm enables to solve motion planning problems involving configuration spaces over which cost functions are defined, or cost spaces for short. T-RRT has been successfully applied to diverse problems in robotics and structural biology. In this paper, we aim at enhancing T-RRT to solve ever more difficult problems involving larger and more complex cost spaces. We compare several variants of T-RRT by evaluating them on various motion planning problems involving different types of cost functions and different levels of geometrical complexity. First, we explain why applying as such classical extensions of RRT to T-RRT is not helpful, both in a mono-directional and in a bidirectional context. Then, we propose an efficient Bidirectional T-RRT, based on a bidirectional scheme tailored to cost spaces. Finally, we illustrate the new possibilities offered by the Bidirectional T-RRT on an industrial inspection problem

Parallelizing RRT on distributed-memory architectures

This paper addresses the problem of improving the performance of the Rapidly-exploring Random Tree (RRT) algorithm by parallelizing it. For scalability reasons we do so on a distributed-memory architecture, using the message-passing paradigm. We present three parallel versions of RRT along with the technicalities involved in their implementation. We also evaluate the algorithms and study how they behave on different motion planning problems

Parallelizing RRT on large-scale distributed-memory architectures

This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the Message Passing Interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion planning problems and analyze the various factors influencing their performance

KnowSe: Fostering user interaction context awareness

The CSCW area has recognized the concept of awareness as a critical issue to focus on (Schmidt et al., 2002) since “users who work together require adequate information about their environment” (Gross and Prinz, 2003). The environment of an individual encompasses her connections with other people, as well as with digital resources and actions (tasks or processes). If connections are not clear or hidden to the individual or to the group, the cost is a lack of awareness in the organization (McArthur and Bruza, 2003), which not only leads to inefficient cooperation but can even prevent it from being started. Unveiling the relations between persons, topics, tasks and processes to computer workers facilitates cooperative work by increasing the awareness of the personal social networks and the role of an individual in the organization, a project, or a group. These connections can be created and modeled manually but a better approach is to develop semi-automatic or even automatic tools to create and share them (McArthur and Bruza, 2003). Based on emails, McArthur and Bruza (2003) have computed such kind of connections, and suggest using more global corpora as well as taking into account dynamic ones

Detecting real user tasks by training on laboratory contextual attention metadata

Detecting the current task of a user is essential for providing her with contextualized and personalized support, and using Contextual Attention Metadata (CAM) can help doing so. Some recent approaches propose to perform automatic user task detection by means of task classifiers using such metadata. In this paper, we show that good results can be achieved by training such classifiers offline on CAM gathered in laboratory settings. We also isolate a combination of metadata features that present a significantly better discriminative power than classical ones

Génération de bases de transactions synthétiques : vers la prise en compte des bordures

De très divers algorithmes sont dédiés à la découverte de motifs fréquents dans les bases de données de transactions. Des initiatives collectives visant à effectuer des comparaisons de performances rigoureuses et impartiales ont vu récemment le jour. Curieusement, cette tâche est rendue difficile par le manque de jeux d'essais publics disponibles, et d'outils pour en synthétiser de façon pertinente. En particulier, un paramètre crucial conditionnant le déroulement de nombreux algorithmes est la distribution des bordures des motifs fréquents. Une seule proposition, à notre connaissance, a récemment effectué un pas vers la génération de jeux d'essais prenant en compte ce paramètre. Dans cet article, nous étudions de près les bordures générées par la proposition existante. Une amélioration est apportée dans les calculs effectués, permettant de réduire la complexité de la génération des bases. Bien que la distribution de la bordure positive en entrée soit parfaitement respectée, nous donnons un résultat attestant que la bordure négative correspondante est toujours du même type, trés différente des bordure négatives dans les bases réelles existantes. Nous esquissons alors une méthode de génération de bases synthétiques en fonction d'une distribution de bordure négative

Extensions of sampling-based approaches to path planning in complex cost spaces: applications to robotics and structural biology

Planifier le chemin d’un robot dans un environnement complexe est un problème crucial en robotique. Les méthodes de planification probabilistes peuvent résoudre des problèmes complexes aussi bien en robotique, qu’en animation graphique, ou en biologie structurale. En général, ces méthodes produisent un chemin évitant les collisions, sans considérer sa qualité. Récemment, de nouvelles approches ont été créées pour générer des chemins de bonne qualité : en robotique, cela peut être le chemin le plus court ou qui maximise la sécurité ; en biologie, il s’agit du mouvement minimisant la variation énergétique moléculaire. Dans cette thèse, nous proposons plusieurs extensions de ces méthodes, pour améliorer leurs performances et leur permettre de résoudre des problèmes toujours plus difficiles. Les applications que nous présentons viennent de la robotique (inspection industrielle et manipulation aérienne) et de la biologie structurale (mouvement moléculaire et conformations stables). ABSTRACT : Planning a path for a robot in a complex environment is a crucial issue in robotics. So-called probabilistic algorithms for path planning are very successful at solving difficult problems and are applied in various domains, such as aerospace, computer animation, and structural biology. However, these methods have traditionally focused on finding paths avoiding collisions, without considering the quality of these paths. In recent years, new approaches have been developed to generate high-quality paths: in robotics, this can mean finding paths maximizing safety or control; in biology, this means finding motions minimizing the energy variation of a molecule. In this thesis, we propose several extensions of these methods to improve their performance and allow them to solve ever more difficult problems. The applications we present stem from robotics (industrial inspection and aerial manipulation) and structural biology (simulation of molecular motions and exploration of energy landscapes)

Exploiting the user interaction context for automatic task detection

Detecting the task a user is performing on her computer desktop is important for providing her with contextualized and personalized support. Some recent approaches propose to perform automatic user task detection by means of classifiers using captured user context data. In this paper we improve on that by using an ontology-based user interaction context model that can be automatically populated by (i) capturing simple user interaction events on the computer desktop and (ii) applying rule-based and information extraction mechanisms. We present evaluation results from a large user study we have carried out in a knowledge-intensive business environment, showing that our ontology-based approach provides new contextual features yielding good task detection performance. We also argue that good results can be achieved by training task classifiers `online' on user context data gathered in laboratory settings. Finally, we isolate a combination of contextual features that present a significantly better discriminative power than classical ones

Extensions of sampling-based approaches to path planning in complex cost spaces: applications to robotics and structural biology

Planning a path for a robot in a complex environment is a crucial issue in robotics. So-called probabilistic algorithms for path planning are very successful at solving difficult problems and are applied in various domains, such as aerospace, computer animation, and structural biology. However, these methods have traditionally focused on finding paths avoiding collisions, without considering the quality of these paths. In recent years, new approaches have been developed to generate high-quality paths: in robotics, this can mean finding paths maximizing safety or control; in biology, this means finding motions minimizing the energy variation of a molecule. In this thesis, we propose several extensions of these methods to improve their performance and allow them to solve ever more difficult problems. The applications we present stem from robotics (industrial inspection and aerial manipulation) and structural biology (simulation of molecular motions and exploration of energy landscapes)

An individual-based evolving predator-prey ecosystem simulation using a fuzzy cognitive map as the behavior model

This paper presents an individual-based predator-prey model with, for the first time, each agent behavior being modeled by a Fuzzy Cognitive Map (FCM), allowing the evolution of the agent behavior through the epochs of the simulation. The FCM enables the agent to evaluate its environment (e.g., distance to predator/prey, distance to potential breeding partner, distance to food, energy level), its internal state (e.g., fear, hunger, curiosity) with memory and choosing several possible actions such as evasion, eating or breeding. The FCM of each individual is unique and is the outcome of the evolution process throughout the simulation. The notion of species is also implemented in a way that species emerge from the evolving population of agents. To our knowledge, our system is the only one that allows modeling the links between behavior patterns and speciation. The simulation produces a lot of data including: number of individuals, level of energy by individual, choice of action, age of the individuals, average FCM associated to each species, number of species. This study investigates patterns of macroevolutionary processes such as the emergence of species in a simulated ecosystem and proposes a general framework for the study of specific ecological problems such as invasive species and species diversity patterns. We present promising results showing coherent behaviors of the whole simulation with the emergence of strong correlation patterns also observed in existing ecosystems