Conditions for suboptimal filter stability in SLAM

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, Sendai (Japón)In this article, we show marginal stability in SLAM, guaranteeing convergence to a non-zero mean state error estimate bounded by a constant value. Moreover, marginal stability guarantees also convergence of the Riccati equation of the one-step ahead state error covariance to at least one psd steady state solution. In the search for real time implementations of SLAM, covariance inflation methods produce a suboptimal filter that eventually may lead to the computation of an unbounded state error covariance. We provide tight constraints in the amount of decorrelation possible, to guarantee convergence of the state error covariance, and at the same time, a linear-time implementation of SLAM.This work was supported by the project 'Supervised learning of industrial scenes by means of an active vision equipped mobile robot.' (J-00063).Peer Reviewe

Sharp transition towards shared vocabularies in multi-agent systems

What processes can explain how very large populations are able to converge on the use of a particular word or grammatical construction without global coordination? Answering this question helps to understand why new language constructs usually propagate along an S-shaped curve with a rather sudden transition towards global agreement. It also helps to analyze and design new technologies that support or orchestrate self-organizing communication systems, such as recent social tagging systems for the web. The article introduces and studies a microscopic model of communicating autonomous agents performing language games without any central control. We show that the system undergoes a disorder/order transition, going trough a sharp symmetry breaking process to reach a shared set of conventions. Before the transition, the system builds up non-trivial scale-invariant correlations, for instance in the distribution of competing synonyms, which display a Zipf-like law. These correlations make the system ready for the transition towards shared conventions, which, observed on the time-scale of collective behaviors, becomes sharper and sharper with system size. This surprising result not only explains why human language can scale up to very large populations but also suggests ways to optimize artificial semiotic dynamics.Comment: 12 pages, 4 figure

Views from within a narrative : Evaluating long-term human-robot interaction in a naturalistic environment using open-ended scenarios

Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. Date of acceptance: 16/06/2014This article describes the prototyping of human–robot interactions in the University of Hertfordshire (UH) Robot House. Twelve participants took part in a long-term study in which they interacted with robots in the UH Robot House once a week for a period of 10 weeks. A prototyping method using the narrative framing technique allowed participants to engage with the robots in episodic interactions that were framed using narrative to convey the impression of a continuous long-term interaction. The goal was to examine how participants responded to the scenarios and the robots as well as specific robot behaviours, such as agent migration and expressive behaviours. Evaluation of the robots and the scenarios were elicited using several measures, including the standardised System Usability Scale, an ad hoc Scenario Acceptance Scale, as well as single-item Likert scales, open-ended questionnaire items and a debriefing interview. Results suggest that participants felt that the use of this prototyping technique allowed them insight into the use of the robot, and that they accepted the use of the robot within the scenarioPeer reviewe

Distributed Symmetry Breaking in Hypergraphs

Fundamental local symmetry breaking problems such as Maximal Independent Set (MIS) and coloring have been recognized as important by the community, and studied extensively in (standard) graphs. In particular, fast (i.e., logarithmic run time) randomized algorithms are well-established for MIS and $\Delta +1$-coloring in both the LOCAL and CONGEST distributed computing models. On the other hand, comparatively much less is known on the complexity of distributed symmetry breaking in {\em hypergraphs}. In particular, a key question is whether a fast (randomized) algorithm for MIS exists for hypergraphs. In this paper, we study the distributed complexity of symmetry breaking in hypergraphs by presenting distributed randomized algorithms for a variety of fundamental problems under a natural distributed computing model for hypergraphs. We first show that MIS in hypergraphs (of arbitrary dimension) can be solved in $O(\log^2 n)$ rounds ($n$ is the number of nodes of the hypergraph) in the LOCAL model. We then present a key result of this paper --- an $O(\Delta^{\epsilon}\text{polylog}(n))$-round hypergraph MIS algorithm in the CONGEST model where $\Delta$ is the maximum node degree of the hypergraph and $\epsilon > 0$ is any arbitrarily small constant. To demonstrate the usefulness of hypergraph MIS, we present applications of our hypergraph algorithm to solving problems in (standard) graphs. In particular, the hypergraph MIS yields fast distributed algorithms for the {\em balanced minimal dominating set} problem (left open in Harris et al. [ICALP 2013]) and the {\em minimal connected dominating set problem}. We also present distributed algorithms for coloring, maximal matching, and maximal clique in hypergraphs.Comment: Changes from the previous version: More references adde

For example Rachel Corrie: the role of theatre in, and as, an activist project

Rachel Corrie was a young American woman who died at the age of twenty-three in Gaza in 2003. She was killed when an Israeli Occupation Force bulldozer ran over her while she was defending a Palestinian house from demolition. Her martyr's death, combined with the force of her descriptions of her experiences as an activist in Palestine, not only provoked response from other activists; it became material for a number of theatrical projects, among them productions by the Royal Court Theatre in London, Bread and Puppet Theatre in the US, and in a production I recently wrote and directed here in New Zealand. This thesis considers the example of Rachel Corrie's activism in Palestine and the theatrical performances it engendered in order to examine the role of theatre in and as an activist project. The theatre is an important component of the ongoing movement for social change. It assembles temporary communities and it portrays issues in ways that are both accessible and open to debate. But theatricality is just as often a key component of activist actions outside the theatre building: in street performances and demonstrations, and also in the way some activists can be seen to pursue their political objectives on a daily basis. Finally, the theatre is a material act of production which can challenge the dominant model of production and thus has the potential to be become an activist project as itself. As a result of my analyses of this material, I hope to provide a framework of understanding both for myself and others, of the likely role of theatre in and as an activist project, and this understanding will be of assistance in the cultural task of shifting beliefs in the movement for social change. The key theorists used in this thesis are Walter Benjamin and Raymond Williams

KCDC - The KASCADE Cosmic-ray Data Centre

KCDC, the KASCADE Cosmic-ray Data Centre, is a web portal, where data of astroparticle physics experiments will be made available for the interested public. The KASCADE experiment, financed by public money, was a large-area detector for the measurement of high-energy cosmic rays via the detection of air showers. KASCADE and its extension KASCADE-Grande stopped finally the active data acquisition of all its components including the radio EAS experiment LOPES end of 2012 after more than 20 years of data taking. In a first release, with KCDC we provide to the public the measured and reconstructed parameters of more than 160 million air showers. In addition, KCDC provides the conceptional design, how the data can be treated and processed so that they are also usable outside the community of experts in the research field. Detailed educational examples make a use also possible for high-school students and early stage researchers.Comment: 8 pages, accepted proceeding of the ECRS-symposium, Kiel, 201