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Multi-Robot Active SLAM with Relative Entropy Optimization

Multi-Robot Active SLAM with Relative Entropy Optimization

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American Control Conference

作者： Michail Kontitsis Evangelos A. Theodorou Emanuel Todorov Department of Electrical Engineering University of Denver Colorado Department of Computer Science and Engineering University of Washington Seattle Department of Computer Science and Engineering and the Applied Math Department University of Washington Seattle

ISBN: (纸本)9781479901777

This paper presents a new approach for Active Simultaneous Localization and Mapping that uses the Relative Entropy (RE) optimization method to select trajectories which minimize both the localization error and the corresponding uncertainty bounds. To that end we construct a planning cost function which includes, besides the state and control cost, a term that encapsulates the uncertainty of the state. This term is the trace of the state covariance matrix produced by the estimator, in this case an Extended Kalman Filter. The role of the RE method is to iteratively guide the selection of the trajectories towards the ones minimizing the aforementioned cost. Once the method has converged, the result is a near-optimal path in terms of achieving the pre-defined goal in the state space while also improving the localization error and the total uncertainty. In essence the method integrates motion planning with robot localization. To evaluate the approach we consider scenarios with single and multiple robots navigating in presence of obstacles and various conditions of landmark densities. The results show a behavior consistent with our expectations.

关键词： Relative Entropy Optimization SLAM RE

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Free energy based policy gradients

Free energy based policy gradients

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Evangelos A. Theodorou Jiri Najemnik Emo Todorov Department of Computer Science and Engineering University of Washington Seattle University of Washington Seattle Departments of Computer Science and Engineering and Applied Math University of Washington Seattle

Despite the plethora of reinforcement learning algorithms in machine learning and control, the majority of the work in this area relies on discrete time formulations of stochastic dynamics. In this work we present a new policy gradient algorithm for reinforcement learning in continuous state action spaces and continuous time for free energy-like cost functions. The derivation is based on successive application of Girsanov's theorem and the use of the Radon Nikodým derivative as formulated for Markov diffusion processes. The resulting policy gradient is reward weighted. The use of Radon Nikodým extends analysis and results to more general models of stochasticity in which jump diffusions processes are considered. We apply the resulting algorithm in two simple examples for learning attractor landscapes in rhythmic and discrete movements.

关键词： Learning (artificial intelligence) Diffusion processes Markov processes Cost function Equations Heuristic algorithms

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Time Varying Nonlinear Policy Gradients

Time Varying Nonlinear Policy Gradients

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IEEE Annual Conference on Decision and Control

作者： Evangelos A. Theodorou Krishnamurthy Dvijotham Emo Todorov School of Aerospace Engineering Georgia Institute of Technology Atlanta Department of Computer Science and Engineering University of Washington Seattle Departments of Computer Science and Engineering and Applied Math University of Washington Seattle

ISBN: (纸本)9781467357159

We derive Policy Gradients(PGs) with time varying parameterizations for nonlinear diffusion processes affine in noise. The resulting policies have the form of reward weighted gradient. The analysis is in continuous time and includes the case of linear and nonlinear parameterizations. Examples on stochastic control problems for diffusions processes are provided.

关键词： Trajectory Linear programming Noise Diffusion processes Aerodynamics Educational institutions Equations

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Calculation of ℌ∞-optimal actuator location for distributed parameter systems

Calculation of ℌ∞-optimal actuator location for distribute...

引用

American Control Conference (ACC)

作者： Dhanaraja Kasinathan Kirsten Morris Steven Yang Department of Mechl & Mechatronics Engineering (DK) Department of Applied Math. (KM) Department of Elecectrical& Computer Engineering (SY) University of Waterloo Waterloo ONT Canada

In control of distributed parameter systems, there is usually freedom on where to place the actuators. The actuator location should be chosen to optimize the performance objectives and regarded as part of the controller design. In this paper, H ∞ -performance with full information is considered. An algorithm to solve the problem is described and the optimal actuator locations are calculated for several examples.

关键词： Actuators Attenuation Approximation methods Riccati equations mathematical model Distributed parameter systems Cost function

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Stability of Longest-Queue-First Scheduling in Linear Wireless Networks with Multihop Traffic and One-Hop Interference

Stability of Longest-Queue-First Scheduling in Linear Wirele...

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IEEE Annual Conference on Decision and Control

作者： Xiaohan Kang Juan Jose Jaramillo Lei Ying School of Electrical Computer and Energy Engineering Arizona State University Tempe AZ 85287 USA Department of Applied Math and Engineering Universidad EAFIT Medellin Colombia

ISBN: (纸本)9781467357159

We consider the stability of the longest-queue-first (LQF) scheduling policy in wireless networks with multihop traffic under the one-hop interference model. Although it is well known that the back-pressure (BP) algorithm achieves the maximal stability, its computational complexity is very high. In this paper, we consider LQF, a low-complexity scheduling algorithm, which has been shown to have near optimal throughput performance in many networks with single-hop traffic flows. We are interested in the performance of LQF for multihop traffic flows. In this scenario, the analysis of local-pooling factors for LQF does not carry through because of the complicated coupling between queues due to multihop traffic flows. Using fluid limit techniques, we show that LQF achieves the maximal stability for linear networks with multihop traffic and a single destination under the one-hop interference.

关键词： Wireless networks Spread spectrum communication Traffic flow Linear networks disturbance patterns Traffic Queue complexity classes

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Gait-based gender classification using persistent homology 1

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18th Iberoamerican Congress on Pattern Recognition, CIARP 2013

作者： Leon, Javier Lamar Cerri, Andrea Reyes, Edel Garcia Diaz, Rocio Gonzalez Patterns Recognition Department Advanced Technologies Application Center 7a # 21812 e/ 218 y 222 Rpto. Siboney Playa C.P. 12200 La Habana Cuba IMATI - CNR via de Marini 6 16149 Genova Italy Applied Math Dept. School of Computer Engineering University of Seville Seville Spain

ISBN: (数字)9783642418273

ISBN: (纸本)9783642418266

In this paper, a topological approach for gait-based gender recognition is presented. First, a stack of human silhouettes, extracted by background subtraction and thresholding, were glued through their gravity centers, forming a 3D digital image I. Second, different filters (i.e. particular orders of the simplices) are applied on ∂K (I) (a simplicial complex obtained from I) which capture relations among the parts of the human body when walking. Finally, a topological signature is extracted from the persistence diagram according to each filter. The measure cosine is used to give a similarity value between topological signatures. The novelty of the paper is a notion of robustness of the provided method (which is also valid for gait recognition). Three experiments are performed using all human-camera view angles provided in CASIA-B database1. The first one evaluates the named topological signature obtaining 98.3% (lateral view) of correct classification rates, for gender identification. The second one shows results for different human-camera distances according to training and test (i.e. training with a human-camera distance and test with a different one). The third one shows that upper body is more discriminative than lower body. © Springer-Verlag 2013.

关键词： Topology

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SAGA: Socially- and geography-aware mobility modeling framework 12

SAGA: Socially- and geography-aware mobility modeling framew...

引用

15th ACM International Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems, MSWiM 2012

作者： Nunes, Bruno A.A. Obraczka, Katia Rodriguez, Abel Department of Computer Engineering University of California Santa Cruz CA United States Department of Applied Math University of California Santa Cruz CA United States

ISBN: (纸本)9781450316286

In this paper, we introduce a user mobility modeling framework that accounts for both the users' social structure as well as the geographic diversity of the region of interest. SAGA, or Socially- and Geography-Aware mobility model, captures social features through the use of communities which cluster users with similar features such as average time in a cell, average speed, and pause time. SAGA accounts for geographic diversity by considering that different communities exhibit different interests for different locales;therefore, different communities are attracted to certain physical locations with different intensities. Besides introducing SAGA, the contributions of this work include: a model calibration approach based on formal statistical procedures to extract social structures and geographical diversity from real traces and set SAGA's parameters;and validation of SAGA by applying it to real mobility traces. Our experimental results show that, when compared to existing mobility regimes such as Random-Waypoint and Preferential- Attachment based mobility, SAGA is able to preserve the desired non-uniform node spatial density present in real user mobility, creating and maintaining clusters and accounting for differential node popularity and transitivity.

关键词： Image segmentation

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Persistent homology for 3D reconstruction evaluation

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4th International Workshop on Computational Topology in Image Context, CTIC 2012

作者： Gutierrez, Antonio Monaghan, David Jiménez, María José O'Connor, Noel E. Applied Math Department School of Computer Engineering University of Seville Sevilla 41012 Spain CLARITY: Centre for Sensor Web Technologies Dublin City University Ireland

ISBN: (纸本)9783642302374

Space or voxel carving is a non-invasive technique that is used to produce a 3D volume and can be used in particular for the reconstruction of a 3D human model from images captured from a set of cameras placed around the subject. In [1], the authors present a technique to quantitatively evaluate spatially carved volumetric representations of humans using a synthetic dataset of typical sports motion in a tennis court scenario, with regard to the number of cameras used. In this paper, we compute persistent homology over the sequence of chain complexes obtained from the 3D outcomes with increasing number of cameras. This allows us to analyze the topological evolution of the reconstruction process, something which as far as we are aware has not been investigated to date. © 2012 Springer-Verlag.

关键词： Cameras

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Stochastic Optimal Control for Nonlinear Markov Jump Diffusion Processes

Stochastic Optimal Control for Nonlinear Markov Jump Diffusi...

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American Control Conference

作者： Evangelos A. Theodorou Emmanuel Todorov Department of Computer Science and Engineering University of Washington Seattle USA Department of Computer Science and Engineering and Department of Applied Math University of Washington Seattle USA

ISBN: (纸本)9781457710957

We consider the problem finite horizon stochastic optimal control for nonlinear markov jump diffusion processes. In particular, by using stochastic calculus for markov jump diffusions processes and the logarithmic transformation of the value function we demonstrate the transformation of the corresponding Hamilton-Jacobi-Bellman (HJB) Partial Differential Equation (PDE) to the backward Chapman Kolmogorov PDE for jump diffusions. Furthermore we derive the Feynman-Kac lemma for nonlinear markov jump diffusions processes and apply it to the transformed HJB equation. Application of the Feynman-Kac lemma yields the solution of the transformed HJB equation. The path integral interpretation is derived. Finally, conclusions and future directions are discussed.

关键词： jump Markov stochastic optimal control logarithmic transformation diffusion Diffusion processes Lemma

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Impacts of Peer Churn on P2P Streaming Networks

Impacts of Peer Churn on P2P Streaming Networks

引用

Annual Allerton Conference on Communication, Control, and Computing

作者： Xiaohan Kang Juan Jose Jaramillo Lei Ying School of Electrical Computer and Energy Engineering Arizona State University Department of Applied Math and Engineering Universidad EAFIT

ISBN: (纸本)9781467345378

Peer-to-peer (P2P) technology has been broadly adopted in live media streaming in recent years. In this paper, we consider a P2P streaming network where a server generates content chunks, and transmits each chunk to a randomly selected peer. Peers then exchange chunks among themselves according to some chunk selection policy. While the performance of different chunk selection policies has been intensively analyzed assuming no peer arrival or departure, the impact of peer churn on P2P live streaming has not been well understood yet. We show that unlike in the static network scenario, larger buffer size does not necessarily result in higher playout probability in the presence of peer churn. We further analyze the relation between the buffer size, playout probability and peer churn under different chunk selection policies and characterize the impact of peer churn on the performance of these chunk selection policies via both theoretical analysis and simulations.

关键词： Churn media streaming P2RY4 gene peer to peer file sharing Chunking Streaming Policies Servers

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