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Multi-robot Map Exploration Based on Multiple Rapidly-Exploring Randomized Trees

SN computer science 2024年第1期5卷 31页

作者： Mukhopadhyay, Shayok Umari, Hassan Koirala, Koshish Electrical & Computer Engineering and Computer Science Department University of New Haven 300 Boston Post Rd West Haven 06516 CT United States Department of Electrical Engineering American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates Mechatronics Engineering graduate program American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates

A map is necessary for tasks such as path planning or localization, which are common to mobile robot navigation. However, a map may be unavailable if the environment in which a robot navigates is unknown. Creating a map requires an exploration algorithm. Such algorithms guide robots to boundaries that separate known portions of a map from the unknown portions. Such boundaries are known as frontiers. There are image processing-based algorithms that detect frontiers. The authors’ previous work uses two, i.e., local and global, rapidly exploring random trees (RRTs) for two-dimensional exploration using a single robot. The present work applies the above to a multiagent system with three robots. A market-based strategy is used to allocate exploration tasks to the robots. Results show that the developed exploration strategy successfully explores a map in a reasonable amount of time compared to image processing-based approaches, and also reduces the map exploration cost. This strategy is readily usable for three-dimensional exploration with drones. It is also shown that the usage of a local frontier detector along with a global frontier detector helps reduce exploration time compared to simply using a global frontier detector alone. As an outline to future work, the paper also shows an extension of the proposed approach towards three-dimensional mapping using a single robot. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Exploration Mapping Multi-agent Navigation ROS RRT

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Evaluation of an agent-based reinforcement learning framework for model-based testing 7

Evaluation of an agent-based reinforcement learning framewor...

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7th International Congress on Ambient Intelligence, Software Engineering, and e-Health and Mobile Health, AmITIC 2024

作者： Ramírez-Méndez, Jose Quesada-López, Christian University of Costa Rica Graduate Program in Computing and Informatics San Pedro Costa Rica University of Costa Rica Department of Computer Science and Informatics San Pedro Costa Rica

ISBN: (纸本)9798350364538

This study evaluates an agent-based reinforcement learning framework for model-based testing (MBT). The framework's performance was assessed on three key metrics: effectiveness and efficiency in achieving model coverage objectives, the quantity and uniqueness of generated test cases, and code coverage. The results show improved metrics for the framework compared to traditional testers in model coverage evaluation and test case metrics. Specifically, the framework achieved higher effectiveness and efficiency, generating a higher average number of test cases with a substantial proportion of unique cases, indicating more diverse and thorough testing. Additionally, the framework, along with random and greedy testers, achieved over 70% coverage across branch, method, and line code metrics. The framework showed slightly higher values in method and line coverage compared to other testers. The evaluation highlights the use of agent-based reinforcement learning to support model-based testing in planning test case generation, exploring models using multiple strategies, and learning guided by testing metrics. Future work will focus on further refining the framework learning model, including error coverage evaluation, and testing its applicability across different software systems. © 2024 IEEE.

关键词： Adversarial machine learning

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Toward Learning Factory for Industry 4.0: Virtual Reality (VR) for Learning Human–Robot Collaboration 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Ariansyah, Dedy Colombo, Giorgio Pardamean, Bens Bioinformatics and Data Science Research Centre Bina Nusantara University Jakarta11480 Indonesia Department of Mechanical Engineering Politecnico di Milano Milan20156 Italy Computer Science Department BINUS Graduate Program Master of Computer Science Program Bina Nusantara University Jakarta11480 Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

Industry 4.0 will bring not only transformation to the manufacturing technologies but also to the profile of the workforce. Education system should be revised to prepare the future graduates embracing the knowledge of the ongoing revolution. Initiatives on the modification of curriculum and tools to deliver the concepts of Industry 4.0 must be taken. This paper examines limitations of current engineering tools and proposes a virtual reality (VR)-based learning platform to support the teaching and learning activity for Industry 4.0, focusing on the design of Human–robot Collaboration (HRC). The development process began with the identification of the general Intended Learning Outcomes (ILOs) which were extracted from the review of the HRC design issues, followed by the evaluation of the current teaching tool. From these results, the new requirements of the tools to achieve ILOs are redefined. The implementation of the system is demonstrated to show the feasibility of the proposed learning platform. This workflow can serve as initial development of another learning platform for the other innovative concepts that form the building blocks of Industry 4.0. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Industry 4.0

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Optimizing Preacher Assignments Using AHC-PCA Algorithm in Kampar Regency 2

Optimizing Preacher Assignments Using AHC-PCA Algorithm in K...

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2nd IEEE International Conference on Electrical Engineering, computer and Information Technology, ICEECIT 2024

作者： Kurniawan, Rahmad Suhada, Nuraina Sukamto Melia, Tisha Zailani Risanto, Joko Department of Computer Science Faculty of Mathematics and Natural Sciences Universitas Riau Pekanbaru Indonesia Graduate Program Universitas Islam Negeri Sultan Syarif Kasim Riau Pekanbaru Indonesia

ISBN: (纸本)9798331504373

Inefficiencies in assigning preachers for Islamic preaching activities often arise due to distant placements, leading to delays and logistical challenges. In Kampar Regency, geographical diversity intensifies this issue, resulting in suboptimal preacher placements. This study aims to optimize preacher assignments by considering distance and mosque profiles. The dataset, which includes 102 mosques and 148 preachers was obtained from the Indonesian Ulema Council in Kampar. The Agglomerative Hierarchical Clustering (AHC) algorithm was selected for its capacity to cluster data across multiple characteristics. Principal Component Analysis (PCA) was employed to reduce data dimensionality, thereby enhancing clustering outcomes. The optimization of the AHC-PCA algorithm generated an optimal clustering solution with a silhouette score of 0.625524 at three clusters. Furthermore, the elbow method also indicated that three clusters are optimal with a value of 390.234457, while the lowest Davies-Bouldin Index (DBI) score of 0.468573 was achieved with three clusters. Business Intelligence techniques visualized these clusters, providing a spatial distribution of preachers and mosques for detailed analysis. This study improves preacher assignments by reducing travel time and aligning preacher placements with mosque proximity and needs, thus enhancing the efficiency of Islamic preaching in Kampar Regency. © 2024 IEEE.

关键词： Efficiency

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The Implementation of TOGAF for Enterprise System Planning on XYZ Campus

The Implementation of TOGAF for Enterprise System Planning o...

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2023 International Conference on Networking, Electrical Engineering, computer science, and Technology, IConNECT 2023

作者： Sirait, Tamsir Hasudungan Lumban Gaol, Ford Supangkat, Suhono Harso Ranti, Benny Bina Nusantara University Binus Graduate Program Computer Science Jakarta Indonesia Bina Nusantara University Computer Science Department Jakarta Indonesia Bandung Institute of Technology School of Electrical Engineering and Informatics Bandung Indonesia Universitas Indonesia Computer Science Department Jakarta Indonesia

ISBN: (纸本)9798350331172

Universities can employ information technology as one means of achieving their goals and objectives. Universities can get advantages from information technology, such as effective resource management and information management for decision-making. However, don't forget that the campus must consider what technology is appropriate to assist them achieve their goals, particularly in the current industrial era 4.0 where technology is available with many different choices. The campus requires an enterprise architecture in order to design, manage, and coordinate information technology infrastructure, applications, and processes strategically and thoroughly. The adoption of enterprise information system architecture (EA) is also intended to improve the quality of services provided to internal and external stakeholders. In this case, Enterprise Architecture can help an organization to match its information technology resources with business processes and strategies to achieve their goals. This research was conducted using TOGAF ADM, also known as the Open Group Architecture Framework Architecture Development Method. This method offers best practices for creating enterprise architecture and emphasizes several steps that include creating an architectural vision, information systems, business architecture modeling to help XYZ campus manage all their information technology. © 2023 IEEE.

关键词： Information management

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Comparing the Effect of Attention Mechanism and Aspect Embedding on the Performance of Long Short-term Memory Model for Aspect-Based Sentiment Analysis

Comparing the Effect of Attention Mechanism and Aspect Embed...

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2023 International Conference on computer science, Information Technology and Engineering, ICCoSITE 2023

作者： Heryadi, Yaya Wijanarko, Bambang Dwi Murad, Dina Fitria Tho, Cuk Hashimoto, Kiyota BINUS Graduate Program-Doctor of Computer Science Computer Science Department Jakarta11480 Indonesia BINUS Online Learning Computer Science Department Jakarta11480 Indonesia BINUS Online Learning Information Systems Department Jakarta11480 Indonesia Prince of Songkla University Interdisciplinary Graduate School or Earth System Science and Andaman Natural Disaster Management Phuket83120 Thailand

ISBN: (纸本)9798350320954

The attention mechanism is one of the key enablers which have positioned transformer models as the state-of-the-art models in Natural Language Processing. By having the attention mechanism, the first version (vanilla) transformer model can retrieve the hidden state but at the same time can maintain a low requirement on the context vector dimension by selectively choosing to which encoder hidden states to give priority attention. The objective of this study is to evaluate the effect of modified Long Short-term Memory models architecture on the model performance as a predictive model. The first model is modified by adding an attention mechanism to its architecture;whilst, the second model is modified by adding additional input to its architecture. The performance of both models is compared by assigning each model the same task: to address the aspect-based sentiment analysis task. The experiment results show that adding an attention mechanism is not significantly increase the performance of the Long Short-term Memory model in comparison to adding input to the same model. In particular, the average training accuracy of the former model is 0.885;whilst, the average training accuracy of the latter model is 0.942. © 2023 IEEE.

关键词： Sentiment analysis

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Restaurant Customer Feedback Sentiment Analysis using Aspect Embedding Long Short-term Memory Model

Restaurant Customer Feedback Sentiment Analysis using Aspect...

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2023 International Conference on computer science, Information Technology and Engineering, ICCoSITE 2023

作者： Heryadi, Yaya Wijanarko, Bambang Dwi Fitria Murad, Dina Tho, Cuk Hashimoto, Kiyota BINUS Graduate Program-Doctor of Computer Science Computer Science Department Jakarta11480 Indonesia BINUS Online Learning Computer Science Department Jakarta11480 Indonesia BINUS Online Learning Information Systems Department Jakarta11480 Indonesia Prince of Songkla University Interdisciplinary Graduate School or Earth System Science and Andaman Natural Disaster Management Phuket83120 Thailand

ISBN: (纸本)9798350320954

In the past ten years, there has been a proliferation of unstructured textual data from a variety of fields, allowing for the analysis of the sentiment polarity of the text authors in each of those datasets. To analyze sentiment polarity from unstructured data, machine learning tasks such as aspect-based sentiment analysis are used. The public dataset of restaurant patron feedback was used as the input for this study's empirical results of aspect-based sentiment analysis utilizing the Aspect Embedding Long Short-Term Memory model. The primary experiment's results show that the aspect embedding long short-term memory model can predict aspect sentiment polarization from customer feedback to restaurant service and aspect text representation (aspect text embedding) as input with excellent performance. For example, the Aspect Embedding Long Short-term Memory model, which uses ReLU as its activation function in the Dense layer tends to achieve higher performance (0.97 average accuracies) than the same model equipped with Sigmoid, and Tanh functions which achieve 0.954 and 0.956 average training accuracy respectively. © 2023 IEEE.

关键词： Sentiment analysis

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Aspect-based Sentiment Analysis using Long Short-term Memory Model for Leveraging Restaurant Service Management

Aspect-based Sentiment Analysis using Long Short-term Memory...

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2023 International Conference on computer science, Information Technology and Engineering, ICCoSITE 2023

ISBN: (纸本)9798350320954

In general, the hospitality industry has been acknowledged as a major sector that gives a high contribution to economic development in many countries including Indonesia. For that reason, many initiatives have been implemented to help the growth of the hospitality industry in many countries including Indonesia to rebound from the harsh impact of the Covid-19 Pandemic. One such initiative is improving restaurant services as the main sector of the hospitality industry. This paper presents empirical results of sentiment analysis as a means to assess the quality of restaurant services as the first step to improving service quality. In particular, this study explores the aspect-based sentiment analysis method to identify some aspects of restaurant service which need improvement by learning the polarity of customers toward the restaurant services without having to meet the customers directly. By using the aspect-based sentiment analysis method, the customer sentiments comprising opinions, sentiments, evaluations, attitudes, and emotions from restaurant service can be analyzed using customers' online reviews as input. The main experiment findings showed that the Long Short-term Memory model can achieve high performance in predicting aspect polarization in restaurant service reviews. Other findings suggest that Sigmoid as an activation function achieved 0.97 average training accuracy and 0.69 average testing accuracy giving a better performance to the model in comparison to ReLU, Tanh, and ELU activation functions. © 2023 IEEE.

关键词： Sentiment analysis

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Fuzzy Decision Support Model on Virtual Plant Computational Model of Water Spinach (Ipomoea aquatica. Forssk) in Farming Business 6

Fuzzy Decision Support Model on Virtual Plant Computational ...

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6th International Conference on Information Technology, Information Systems and Electrical Engineering, ICITISEE 2022

作者： Utama, Ditdit Nugeraha Agustia Rachmawati, Ika Diah Purwantono, Heraldo Yusron Bina Nusantara University Binus Graduate Program - Master of Computer Science Computer Science Department Jakarta11480 Indonesia Computer Science Department School of Computer Science Bina Nusantara University Jakarta Indonesia

ISBN: (纸本)9798350399615

Using soil as a planting medium (conventional system) raises several problems, such as the need for large agricultural land, but the available land is limited. This problem is triggered by an increase in demand for nutrients needed by the body to support daily activities, one of which can be met by consuming green vegetables, such as Water Spinach. To solve this problem, a hydroponic wick system or a wick system can use that is simple and easy to care for. Water Spinach (Ipomoea aquatica. Forssk) vegetables are easy to grow and care for. Nutrients contained in 100 grams of Water Spinach, energy: 29 kcal, protein: 3 grams, Fat: 0.3 grams, carbohydrates: 5.4 grams, calcium: 73 mg, phosphorus: 50 mg, iron: 3 mg, vitamin A: 6300IU,vitamin B1: 0.07 mg, vitamin C: 32 mg. In addition, a combination of disciplines such as mathematics, computer science, plant science, biology, and statistics can be used. This combination of knowledge is known as Plant Computational Modeling (PCM), which uses the Growth Grammar Interactive Modeling Platform (GroIMP) with the Functional Structural Plant Modeling (FSPM) method. The virtual plant model was successfully built, the results were divided into two parts, such as single plant and multi-plant. Plant computational modeling and DSM can help deal with agricultural problems. By using a plant dataset, the GroIMP-FSPM platform, and fuzzy logic, the model could help researchers in making a better decision based on BEP evaluation. The minimum numbers of plants cultivated were 650 plants in one harvest period in order to gain a desirable profit. We recommend to cultivate even more plants in one harvest period to gain even higher profits. © 2022 IEEE.

关键词： Decision Support Model Functional Structural Plant Modelling Fuzzy Logic Growth-Grammar Interactive Modelling Platform Ipomoea aquatica Forssk Plant Computational Modelling

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Learning the Jawa Culture by using Android Smartphone 2

Learning the Jawa Culture by using Android Smartphone

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2nd International Conference on Artificial Intelligence and Smart Energy, ICAIS 2022

作者： Antonio, Andrew Kezyanto, Julio Warnars, Harco Leslie Hendric Spits Bina Nusantara University School of Computer Science Computer Science Department Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program - Computer Science Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9781665400527

Javanese culture is a culture that the Javanese own, and the Javanese have started to exist with their culture since before the era of the Majapahit kingdom, and the Javanese are famous for their ability to sail the oceans. In addition, the many temples built, which are currently historical sites, prove that the Javanese are a large ethnic group that inhabits the island of Java. Other Javanese cultures include Javanese handicrafts such as kris, Javanese dance, Javanese batik art, Javanese wayang art, Javanese carving art, Javanese songs, and Javanese writings. All these cultures are part of the wealth of the unitary state of the Republic of Indonesia that must be preserved and passed down from one generation to another, and current technological developments tend to make the current generation less aware of preserving the culture of their ancestors. Therefore, we use technology to create an application for learning Javanese culture by applying game elements as entertainment elements. The business process of this application is modeled using use case diagrams and class diagrams to describe the database relationships. This mobile application is built using android studio and uses a MySQL database. © 2022 IEEE.

关键词： Android (operating system)

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