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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Jorge M. Soares Ali Marjovi Jonathan Giezendanner Anil Kodiyan A. Pedro Aguiar Antonio M. Pascoal Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne (EPFL) 1015 Switzerland Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Portugal Laboratory of Robotics and Engineering Systems Instituto Superior Técnico University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781509037636

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We propose an algorithm that takes advantage of spatially distributed measurements to track the plume in 3-D and lead the robots to the source by integrating three behaviors - upwind movement, plume centering, and Laplacian feedback formation control. We evaluate this strategy in simulation and with real robots in a wind tunnel. For a source close to the ground, results show that a team of robots running our algorithm reaches the source with low lateral error while also tracing the horizontal and vertical plume shape.

关键词： Robot sensing systems Robot kinematics Laplace equations Tracking Unmanned aerial vehicles Chemicals Manipulator sensing systems Robot kinematics Laplace's equation Position measurement plume plumes tracking Unmanned Aerial Vehicle chemical compounds Computer algorithms Robot vehicle drone honey bees Three Dimensions plume shape

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An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

An Algorithm for Formation-Based Chemical Plume Tracing Usin...

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OCEANS MTS/IEEE Monterey (Conference)

作者： Jorge M. Soares A. Pedro Aguiar Antonio M. Pascoal Alcherio Martinoli Laboratory of Robotics and Engineering Systems Instituto Superior Técnico University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal Research Center for Systems and Technology Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Portugal Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering école Polytechnique Fédérale de Lausanne (EPFL) 1015 Switzerland

ISBN: (纸本)9781509015276

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication. In this paper, we propose an approach for near-surface waterborne plume tracing using a combined team of autonomous surface and underwater vehicles. All vehicles are equipped with appropriate chemical sensors and acoustic modems. The team moves in a triangular formation, while using the flow direction and the samples obtained to steer the group along the plume. Leader vehicles at the surface implement a formation controller based on Laplacian feedback while the underwater vehicle performs acoustic ranging to the leaders. The solution was evaluated using a CFD simulation of a freshwater plume and a calibrated dynamic model of the MEDUSA autonomous marine vehicles. The group is able to move in a stable formation, sample the salinity, and trace the plume to its source.

关键词： Vehicles Chemicals Robots Ocean temperature Sea surface Salinity (geophysical) Underwater vehicles

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Attentionxml: Label tree-based attention-aware deep model for high-performance extreme multi-label text classification

arXiv

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arXiv 2018年

作者： You, Ronghui Zhang, Zihan Wang, Ziye Dai, Suyang Mamitsuka, Hiroshi Zhu, Shanfeng Shanghai Key Lab of Intelligent Information Processing School of Computer Science Centre for Computational Systems Biology School of Mathematical Sciences Shanghai Institute of Artificial Intelligence Algorithms and ISTBI Fudan University Shanghai China Bioinformatics Center Institute for Chemical Research Kyoto University Japan Department of Computer Science Aalto University Helsinki Finland

Extreme multi-label text classification (XMTC) is an important problem in the era of big data, for tagging a given text with the most relevant multiple labels from an extremely large-scale label set. XMTC can be found in many applications, such as item categorization, web page tagging, and news annotation. Traditionally most methods used bag-of-words (BOW) as inputs, ignoring word context as well as deep semantic information. Recent attempts to overcome the problems of BOW by deep learning still suffer from 1) failing to capture the important subtext for each label and 2) lack of scalability against the huge number of labels. We propose a new label tree-based deep learning model for XMTC, called AttentionXML, with two unique features: 1) a multi-label attention mechanism with raw text as input, which allows to capture the most relevant part of text to each label;and 2) a shallow and wide probabilistic label tree (PLT), which allows to handle millions of labels, especially for "tail labels". We empirically compared the performance of AttentionXML with those of eight state-of-the-art methods over six benchmark datasets, including Amazon-3M with around 3 million labels. AttentionXML outperformed all competing methods under all experimental settings. Experimental results also show that AttentionXML achieved the best performance against tail labels among label tree-based methods. The code and datasets are available at http://***/yourh/AttentionXML . Copyright © 2018, The Authors. All rights reserved.

关键词： Benchmarking

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Informed machine learning - A taxonomy and survey of integrating prior knowledge into learning systems

arXiv

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arXiv 2019年

作者： von Rueden, Laura Mayer, Sebastian Beckh, Katharina Georgiev, Bogdan Giesselbach, Sven Heese, Raoul Kirsch, Birgit Pfrommer, Julius Pick, Annika Ramamurthy, Rajkumar Walczak, Michal Garcke, Jochen Bauckhage, Christian Schuecker, Jannis The Fraunhofer IAIS Institute for Intelligent Analysis and Information Systems Sankt Augustin53757 Germany The Fraunhofer SCAI Institute for Algorithms and Scientific Computing Sankt Augustin53757 Germany The Fraunhofer ITWM Institute for Industrial Mathematics Kaiserslautern67663 Germany The Fraunhofer IOSB Institute for Optronics System Technologies and Image Exploitation Karlsruhe76131 Germany

Despite its great success, machine learning can have its limits when dealing with insufficient training data. A potential solution is the additional integration of prior knowledge into the training process which leads to the notion of informed machine learning. In this paper, we present a structured overview of various approaches in this field. We provide a definition and propose a concept for informed machine learning which illustrates its building blocks and distinguishes it from conventional machine learning. We introduce a taxonomy that serves as a classification framework for informed machine learning approaches. It considers the source of knowledge, its representation, and its integration into the machine learning pipeline. Based on this taxonomy, we survey related research and describe how different knowledge representations such as algebraic equations, logic rules, or simulation results can be used in learning systems. This evaluation of numerous papers on the basis of our taxonomy uncovers key methods in the field of informed machine learning. © 2019, CC BY.

关键词： Surveys

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Recent Advances in Robot Learning from Demonstration

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Control, Robotics, and Autonomous systems 1000年第1期3卷 297-330页

作者： Harish Ravichandar Athanasios S. Polydoros Sonia Chernova Aude Billard 1Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta Georgia 30332 USA email: harish.ravichandar@gatech.educhernova@gatech.edu 2Learning Algorithms and Systems Laboratory École Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland email: athanasios.polydoros@epfl.chaude.billard@epfl.ch

In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be neither easily scripted (as is done in traditional robot programming) nor easily defined as an optimization problem, but can be demonstrated. While there have been multiple surveys of this field in the past, there is a need for a new one given the considerable growth in the number of publications in recent years. This review aims to provide an overview of the collection of machine-learning methods used to enable a robot to learn from and imitate a teacher. We focus on recent advancements in the field and present an updated taxonomy and characterization of existing methods. We also discuss mature and emerging application areas for LfD and highlight the significant challenges that remain to be overcome both in theory and in practice.

关键词： learning from demonstration imitation learning programming by demonstration robot learning

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Vision-based Unmanned Aerial Vehicle detection and tracking for sense and avoid systems

Vision-based Unmanned Aerial Vehicle detection and tracking ...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Krishna Raj Sapkota Steven Roelofsen Artem Rozantsev Vincent Lepetit Denis Gillet Pascal Fua Alcherio Martinoli Computer Vision Laboratory School of Communication and Computer Sciences école Polytechnique Fédérale de Lausanne (EPFL) Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering EPFL Switzerland Institute for Computer Graphics and Vision TU Graz Austria Coordination and Interaction System Group School of Engineering EPFL Switzerland

ISBN: (纸本)9781509037636

We propose an approach for on-line detection of small Unmanned Aerial Vehicles (UAVs) and estimation of their relative positions and velocities in the 3D environment from a single moving camera in the context of sense and avoid systems. This problem is challenging both from a detection point of view, as there are no markers on the targets available, and from a tracking perspective, due to misdetection and false positives. Furthermore, the methods need to be computationally light, despite the complexity of computer vision algorithms, to be used on UAVs with limited payload. To address these issues we propose a multi-staged framework that incorporates fast object detection using an AdaBoost-based approach, coupled with an on-line visual-based tracking algorithm and a recent sensor fusion and state estimation method. Our framework allows for achieving real-time performance with accurate object detection and tracking without any need of markers and customized, high-performing hardware resources.

关键词： Target tracking Object detection Collision avoidance Cameras Visualization Detectors

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Toward the Deployment of an Ultra-Wideband Localization Test Bed

Toward the Deployment of an Ultra-Wideband Localization Test...

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IEEE Conference on Vehicular Technology (VTC)

作者： Alexander Feldman Alexander Bahr James Colli-Vignarelli Stephan Robert Catherine Dehollain Alcherio Martinoli Institute for Information and Communication Technologies Haute Ecole dIngénierie et de Gestion du Canton de Vaud (HEIG-VD) China Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Radio Frequency Integrated Circuit Group Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland

The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and integration decisions affect the performance of an UWB system, in particular the most important metrics: localization accuracy and position update rate. To facilitate further development of UWB localization systems and to analyze some of the major trade-offs we share our experience in deploying the EPFL UWB-Lite test bed (U-Lite). We describe an approach to numerical simulation modeling that can help in the design and evaluation of UWB localization systems. To validate our approach we show experimental results with one transmitter and one receiver. Our UWB test bed includes a mobile robot platform, so we can study and evaluate the UWB performance trade-offs in real-world conditions.

关键词： Receivers Radio transmitters Accuracy Robots Radio frequency Demodulation

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Modeling and benchmarking Ultra-Wideband localization for mobile robots

Modeling and benchmarking Ultra-Wideband localization for mo...

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IEEE International Conference on Ubiquitous Wireless Broadband (ICUWB)

作者： Alexander Bahr Alexander Feldman James Colli-Vignarellii Stephan Robert Catherine Dehollaini Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingenierie et de Gestion du Canton de Vaud (HEIG-VD) Switzerland Institute for Information and Communication Technologies Haute Ecole d'Ingénierie et de Gestion du Canton de Vaud (HEIG-VD) Ecole Polytechnique Federale de Lausanne Lausanne VD CH

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in UWB-based robotic localization. We developed a test-bed where an UWB transmitter is attached to a mobile robot. By combining the received signals with the robot's position log acquired through the dead-reckoning sensors, we obtain UWB signals which are well referenced with respect to the transmitter-receiver distance and orientation. In addition, we provide a model for every component of the setup. The entire setup allows us to simulate from first principles every aspect of an UWB localization system and then to implement low-level signal processing as well as higher-level modulation and localization techniques. We implement an Automatic Gain Control (AGC) algorithm to demonstrate the rapid proto-typing capabilities of the test-bed. Our work shows how an UWB robotic system and its models can be involved in all phases of the development of a technology that can help robot's navigation, localization and communication algorithms.

关键词： Receivers Numerical models Gain control Mathematical model Transmitters Mobile robots

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Graph Signature for Self-Reconfiguration Planning

Graph Signature for Self-Reconfiguration Planning

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2008 IEEE/RSJ International Conference on intelligent Robots and systems, Pages 526-1042

作者： Masoud Asadpour Alexander Sproewitz Aude Billard Pierre Dillenbourg Auke Jan Ijspeert ECE Dept. University of Tehran Control and Intelligent Processing Center of Excellence Iran Bio-Inspired Robotics Group (BIRG) Switzerland Learning Algorithms and Systems Laboratory (LASA) Switzerland Centre de Recherche et d Appui pour la Formation Switzerland Centre de Recherche et d'Appui pour la Formation (CRAFT) Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Bio-Inspired Robotics Group (BIRG)

ISBN: (纸本)9781424420575

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection/disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

关键词： Modular self-reconfigurable robots Adaptive furniture Graph isomorphism Graph signature Graph edit distance Modular robots graph editing Line graph Reconfiguration Furnishings signatures Building blocks Degree of freedom crop rotation

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