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MAD-BA: 3D LiDAR Bundle Adjustment – From Uncertainty Modelling to Structure Optimization

IEEE Robotics and Automation Letters 2025年第7期10卷 7254-7261页

作者： Cwian, Krzysztof Giammarino, Luca Di Ferrari, Simone Ciarfuglia, Thomas Grisetti, Giorgio Skrzypczynski, Piotr Poznan University of Technology Institute of Robotics and Machine Intelligence Poznan Poland Sapienza University of Rome Department of Computer Control and Management Engineering "Antonio Ruberti" Italy

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This paper introduces a framework for simultaneous optimization of sensor poses and 3D map, represented as surfels. A generalized LiDAR uncertainty model is proposed to address less reliable measurements in varying scenarios. Experimental results on public datasets demonstrate improved performance over most comparable state-of-the-art methods. The system is provided as open-source software to support further research. © 2016 IEEE.

关键词： Open source software

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Radar style transfer for metric robot localisation on lidar maps

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CAAI Transactions on Intelligence Technology 2023年第1期8卷 139-148页

作者： Huan Yin Yue Wang Jun Wu Rong Xiong College of Control Science and Engineering Zhejiang UniversityHangzhouChina Department of Electronic and Computer Engineering Hong Kong University of Science and TechnologyKowloonHong KongChina

Lidar and visual data are affected heavily in adverse weather conditions due to sensing mechanisms,which bring potential safety hazards for vehicle *** sensing is desirable to build a more robust navigation *** this paper,a cross-modality radar localisation on prior lidar maps is ***,the proposed workflow consists of two parts:first,bird's-eye-view radar images are transferred to fake lidar images by training a generative adversarial network *** with online radar scans,a Monte Carlo localisation framework is built to track the robot pose on lidar *** whole online localisation system only needs a rotating radar sensor and a pre-built global lidar *** the experimental section,the authors conduct an ablation study on image settings and test the proposed system on Oxford Radar Robot Car *** promising results show that the proposed localisation system could track the robot pose successfully,thus demonstrating the feasibility of radar style transfer for metric robot localisation on lidar maps.

关键词： lidar local maps

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An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang Jiliang Zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

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Dynamic Mode Decomposition for Individualized Model Predictive control with Application to Type 1 Diabetes 32

Dynamic Mode Decomposition for Individualized Model Predicti...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Becchetti, Valentina Atanasious, Mohab M.H. Menegatti, Danilo Baldisseri, Federico Giuseppi, Alessandro Sapienza University of Rome Department of Computer Control and Management Engineering 'Antonio Ruberti' Italy

ISBN: (纸本)9798350395440

Type 1 diabetes is one of the main issues in current medical research. If not properly managed, it can lead to serious long-term complications such as blindness, stroke, coma and, ultimately, death. In recent years, research endeavors have focused on the development of a fully automated system for glucose control through automated insulin injections, known as Artificial Pancreas, which, however, is not yet robust enough for practical use. Currently, the UVA/Padova simulator provides the most accurate model for effectively representing the insulin-glucose dynamics of individual diabetic patients. As it is highly complex, consisting of 18 strongly nonlinear and time-varying equations, the objective of this work is to linearize it and reduce its dimensionality exploiting Dynamic Mode Decomposition with control. This allows for the synthesis of a controller based on Linear Model Predictive control to be applied to the original model. This is justified by the need to integrate the control algorithm into portable devices with limited computational capabilities. The proposed dimensionality reduction method is validated through in-vitro simulations showing that an accurate representation of the system dynamics is effectively preserved, while conveniently reducing required computational power. © 2024 IEEE.

关键词： Dynamic mode decomposition

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Semantic Explanations of Classifiers through the Ontology-Based Data Management Paradigm (Extended Abstract) 37

Semantic Explanations of Classifiers through the Ontology-Ba...

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37th International Workshop on Description Logics, DL 2024

作者： Papi, Laura Cima, Gianluca Console, Marco Lenzerini, Maurizio Department of Computer Control and Management Engineering 25 Via Ariosto Rome00185 Italy

One of the main challenges in modern AI systems is to explain the decisions of complex machine learning models, and recent years have seen a burgeoning of novel approaches. These approaches often rely on some structural components of the models under consideration, e.g., the set of features used for the classification task. As a result, explanations provided by these approaches are expressed in terms of the sub-symbolic information and, therefore, they are hard to interpret for users. In this paper, we argue that, in order to foster interpretability, these explanations should be expressed in terms of the knowledge that the users posses on the underlying application domain rather than on the sub-symbolic components of the model. To this end, our first contribution is the illustration of a novel formal framework for explaining the decisions of machine learning classifiers grounded on the Ontology-Based Data Management paradigm. Within this framework, explanations are defined by logical formulae using the symbols that an ontology defines and, as such, they posses a well-defined semantics. As a second contribution, we provide an algorithm that computes the best explanations that can be expressed in the class of conjunctive queries. © 2024 Copyright for this paper by its authors.

关键词： Adversarial machine learning

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Multi-dimensional networks as a tool to model, analyze, and interpret multi-subject brain connectivity in hyperscanning settings

Multi-dimensional networks as a tool to model, analyze, and ...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Puxeddu, Maria Grazia Rinaldini, Greta Astolfi, Laura University of Rome La Sapienza Department of Computer Control and Management Engineering Rome Italy

ISBN: (纸本)9798350386226

Social interactions are woven in the fabric of our lives, from birth to adulthood. Studies show that when social connections are lacking, there is a high probability of developing poor mental and physical health. Conversely, some mental disorders result in a compromised ability to form these interactions, with autism being a prime example. For these reasons, understanding the neural mechanisms underlying social interactions is crucial. Hyperscanning experiments, where brain activity is simultaneously recorded from multiple subjects during social tasks, have emerged as a powerful tool for tackling this issue, and the study of brain-to-brain connectivity has provided significant insights into social neuroscience. However, no agreed-upon methods exist for analyzing and interpreting such data, and most of the analyses still rely on techniques designed for single-subject experiments. Here, we propose a framework to model brain-to-brain connectivity through multi-dimensional networks. Under this conceptualization, both intra- and inter-brain connectivity are viewed as components of a higher-order network that can be studied by extending graph theory indices to a multidimensional case. In this article, we also discuss how these indices can be interpreted in the context of multi-subject networks. Future investigations will apply this framework to hyperscanning datasets to provide new insights into the neural circuits associated with social interactions. © 2024 IEEE.

关键词： Diseases

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Real-time and Energy-aware Scheduling for Edge-to-Cloud Continuum based on Reinforcement Learning 28

Real-time and Energy-aware Scheduling for Edge-to-Cloud Cont...

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28th IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications, DS-RT 2024

作者： Panceri, Andrea Mattia, Gabriele Proietti Beraldi, Roberto Sapienza University of Rome Control and Management Engineering "A. Ruberti" Department of Computer Italy

ISBN: (纸本)9798331527211

By spreading out computing workloads over multiple levels, the Edge-to-Cloud continuum paradigm improves the performance of applications that are sensitive to latency. However, real-time scheduling is difficult on the Edge computing layer since it consists of a variety of nodes with varying uptime. In this paper, we address this issue by proposing an online and adaptive scheduling algorithm based on a continuous learning Reinforcement Learning. Our algorithm determines each work request individually, optimizing scheduling policies to meet real-time application requirements while taking environmental energy and battery limits into account. We validate the efficacy of our approach in dynamically assigning tasks, particularly in scenarios where Edge nodes exhibit variable speeds and unpredictable failures, while efficiently managing energy resources and battery constraints through extensive simulations and comparisons with static scheduling strategies. © 2024 IEEE.

关键词： Scheduling algorithms

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Informativeness of Query Answers for Knowledge Bases (Extended Abstract) 37

Informativeness of Query Answers for Knowledge Bases (Extend...

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37th International Workshop on Description Logics, DL 2024

作者： Andolfi, Luca Cima, Gianluca Console, Marco Lenzerini, Maurizio Department of Computer Control and Management Engineering 25 Via Ariosto Rome00185 Italy

This extended abstract summarises our recent work on the informativeness of query answers over Description Logics Knowledge Bases (KBs). We introduce a framework to characterise the information that query answers for KBs can represent and under its lens we study the informative power of current query answering definitions across the literature. Moreover, we also present novel notions of certain and possible answers, showing that they are able to represent a meaningful form of information. Lastly, we study the data complexity properties for relevant problems associated to the answers we introduced. © 2024 Copyright for this paper by its authors.

关键词： Structured Query Language

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Towards Autonomous computer Networks in Support of Critical Systems 36

Towards Autonomous Computer Networks in Support of Critical ...

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36th IEEE/IFIP Network Operations and Management Symposium, NOMS 2023

作者： Sacco, Alessio Marchetto, Guido Politecnico di Torino Department of Control and Computer Engineering Italy

ISBN: (纸本)9781665477161

A recent trend dictating evolution of management and orchestration of computer networks is constituted by the softwarization and virtualization of them, which have drastically simplified the deployment and real-time reconfiguration of network functions, allowing them to continuously adapt and to deal with dynamic demands in an automated way. Alongside, recent management and orchestration approaches for softwarized networks employ Artificial Intelligence (AI) and Machine Learning (ML) to further reduce reaction time and improve the accuracy of decisions, where the network operations can be automated to the point of realizing autonomous driving networks. However, while automating operations can improve the overall system (it is acknowledged that 70% of network faults are caused by manual errors), AI/ML methods are not the panaceas, and we are still far from having a fully operating and efficient automated architecture. In this dissertation, we present a novel class of software network solutions that share the goal of enabling intelligent and autonomous computer networks, exploring how to exploit the power of AI/ML to handle the growing complexity of critical systems. We start with a new network management scheme for adaptive routing and autonomous scaling of virtual network resources. Then, acting on the hosts, we propose to adjust the TCP congestion control with a ML-based solution, whose goal is to select the proper congestion window learning from end-to-end features and (when available) network signals. We believe that the proposed solutions, and their combination, can lay the foundation for automated systems that better suit modern edge environments and cellular networks by providing unprecedented flexibility and adaptation to even unseen and unknown network conditions. © 2023 IEEE.

关键词： Artificial intelligence

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User Input Search - Custom Motion Estimation Algorithm Optimized for UAVs 46

User Input Search - Custom Motion Estimation Algorithm Optim...

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46th ICT and Electronics Convention, MIPRO 2023

作者： Benjak, J. Hofman, D. Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Zagreb Croatia

ISBN: (纸本)9789532331042

Unmanned aerial vehicle technology is growing rapidly as it finds its application in the various industries, including military & defense, agriculture, logistics, transportation, healthcare, entertainment and many others. One of the fastest growing industries including drones is the entertainment industry. More specifically, First Person View (FPV) piloting has become a popular sport which attracts huge masses. In FPV systems, the pilot wears FPV goggles and controls the drone using a controller, and the drone transmits video data to the goggles in real time. Since drones usually fly very quickly, the video quality in terms of resolution, compression artefacts and end-to-end delay must be maintained. This paper explores the idea of optimizing the Motion Estimation (ME) algorithm of existing High Efficiency Video Coding (HEVC) algorithms by utilizing user input from the controller. For example, if the drone is directed to hover to the left, then it would make sense to search for the most similar blocks in the previous video frame only on the left side of the referent block. For the purpose of this research, a HEVC video coder was customized to receive additional input besides the video data - the user input from the controller, or in other words, drone movement directions. We call this ME algorithm User Input Search (UIS). Our UIS algorithm is compared with the standard ME algorithms and its efficiency is tested. © 2023 MIPRO Croatian Society.

关键词： Real time systems

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