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9th International Conference on Principles of Knowledge Representation and Reasoning, KR 2004

作者： Kern-Isberner, Gabriele Fisseler, Jens Department of Computer Science Fern Universitaet Hagen Hagen58084 Germany Institute for Robotics Cognitive Systems Universitaet Luebeck Luebeck23538 Germany

ISBN: (纸本)1577351991

In a very basic sense, the aim of knowledge discovery is to reveal structures of knowledge which can be seen as being represented by structural relationships. In this paper, we make this notion more precise and present a method how to extract structural information from statistical data. There are two key ideas underlying our approach: First, knowledge discovery is understood as a process which is inverse to inductive knowledge representation. So the relevance of discovered information is judged with respect to the chosen representation method. Second, the link between structural and numerical knowledge is established by an algebraic theory of conditionals, which considers conditionals as agents acting on possible worlds. By applying this theory, we develop an algorithm that computes sets of probabilistic rules from distributions. In particular, we show how sparse information can be dealt with appropriately in our framework. The inductive representation method used here is based on information theory, so that the discovered rules can be considered as being most informative in a strict, formal sense. Copyright © 2004, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Knowledge representation

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Generating robust partial order schedules

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10th International Conference on Principles and Practice of Constraint Programming, CP 2004

作者： Policella, Nicola Oddi, Angelo Smith, Stephen F. Cesta, Amedeo Institute for Cognitive Science and Technology Italian National Research Council Rome Italy The Robotics Institute Carnegie Mellon University PittsburghPA United States Department of Computer and Systems Science University of Rome Italy

ISBN: (纸本)3540232419

This paper considers the problem of transforming a resource feasible, fixed-times schedule into a partial order schedule (POS) to enhance its robustness and stability properties. Whereas a fixed-times schedule is brittle in the face of unpredictable execution dynamics and can quickly become invalidated, aPOS retains temporal flexibility whenever problem constraints allow it and can often absorb unexpected deviation from predictive assumptions. We focus specifically on procedures for generating Chaining Form POSs, wherein activities competing for the same resources are linked into precedence chains. One interesting property of a Chaining Form POS is that it is "makespan preserving" with respect to its originating fixed-times schedule. Thus, issues of maximizing schedule quality and maximizing schedule robustness can be addressed sequentially in a two-step scheduling procedure. Using this approach, a simple chaining algorithm was recently shown to provide an effective basis for transforming good quality solutions into POSs with good robustness properties. Here, we investigate the possibility of producing POSs with better robustness and stability properties through more extended search in the space of Chaining Form POSs. We define two heuristics which make use of a structural property of chaining form POSs to bias chaining decisions. Experimental results on a resource-constrained project scheduling benchmark confirm the effectiveness of our approach. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Scheduling

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Application of rough set based dynamic parameter optimization to MRI segmentation

Application of rough set based dynamic parameter optimizatio...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： S. Widz D. Slezak K. Revett Department of Robotics and Multi-Agent Systems Polish-Japanese Institute of Information Technology Warsaw Poland Department of Computer Science University of Regina Regina Canada Department of Computer Science University of Luton Luton UK

We introduce a multi-spectral MRI segmentation technique based on approximate reducts derived from the data mining paradigm of the theory of rough sets. We use genetic algorithms to tune the parameterized attributes a... 详细信息

关键词： Magnetic resonance imaging Image segmentation Genetic algorithms Brain Histograms computer science Rough sets Alzheimer's disease Parkinson's disease Testing

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Communications for improving policy computation in distributed POMDPs

Communications for improving policy computation in distribut...

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Proceedings of the International Joint Conference on Autonomous Agents and Multiagent systems, AAMAS

作者： R. Nair M. Tambe M. Roth M. Yokoo Computer Science Department University of Southern California USA Robotics Institute Carnegie Mellon University USA Department of Intelligent Systems Kyushu University Japan

Distributed Partially Observable Markov Decision Problems (POMDPs) are emerging as a popular approach for modeling multiagent teamwork where a group of agents work together to jointly maximize a reward function. Since the problem of finding the optimal joint policy for a distributed POMDP has been shown to be NEXP-Complete if no assumptions are made about the domain conditions, several locally optimal approaches have emerged as a viable solution. However, the use of communicative actions as part of these locally optimal algorithms has been largely ignored or has been applied only under restrictive assumptions about the domain. In this paper, we show how communicative acts can be explicitly introduced in order to find locally optimal joint policies that allow agents to coordinate better through synchronization achieved via communication. Furthermore, the introduction of communication allows us to develop a novel compact policy representation that results in savings of both space and time which are verified empirically. Finally, through the imposition of constraints on communication such as not going without communicating for more than K steps, even greater space and time savings can be obtained.

关键词： Distributed computing Teamwork Uncertainty Observability Permission Multiagent systems Performance loss Humans

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Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle

Autonomous deployment and repair of a sensor network using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Corke S. Hrabar R. Peterson D. Rus S. Saripalli G. Sukhatme CSIRO Manufacturing and Infrastructure Technology QLD Australia Center for Robotics and Embedded Systems University of Southern California Los Angeles CA USA Department of Computer Science Dartmouth College Hanover NH USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

We describe a sensor network deployment method using autonomous flying robots. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data we collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for a second, repair, pass to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth.).

关键词： Unmanned aerial vehicles Helicopters Robot sensing systems Mobile robots Network topology Remotely operated vehicles computer science Monitoring Ad hoc networks Aircraft navigation

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Planar Spline Trajectory Following for an Autonomous Helicopter

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Journal of Advanced Computational Intelligence and Intelligent Informatics 2004年第3期8卷 237-242页

作者： Harbick, Kale Montgomery, James F. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los AngelesCA90089-0781 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109-8099 United States

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable. © Fuji Technology Press Ltd. Creative Commons CC BY-ND: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NoDerivatives 4.0 International License (http://***/licenses/by-nd/4.0/).

关键词： Unmanned aerial vehicles (UAV)

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An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

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作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots robotics and automation Humans Graphics Virtual environment Machine vision computer science Augmented virtuality

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H/sub 2/ control for uncertain time-delay fuzzy systems

H/sub 2/ control for uncertain time-delay fuzzy systems

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IEEE International Conference on systems, Man and Cybernetics

作者： Huaping Liu Fuchun Sun Kezhong He Zengqi Sun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

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