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Learning to Prevent Monocular SLAM Failure using Reinforcement Learning 18

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Learning to Prevent Monocular SLAM Failure using Reinforceme...

Proceedings of the 11th Indian Conference on computer Vision, Graphics and Image Processing

作者： Vignesh Prasad Karmesh Yadav Rohitashva Singh Saurabh Swapnil Daga Nahas Pareekutty K. Madhava Krishna Balaraman Ravindran Brojeshwar Bhowmick Embedded Systems & Robotics TCS Research & Innovation Kolkata India Robotics Institute Carnegie Mellon University Pittsburgh USA Dept. of Robotics Engineering John Hopkins University Baltimore USA Robotics Research Center KCIS IIIT Hyderabad India Dept. of Computer Science Indian Institute of Technology Madras India

ISBN: (纸本)9781450366151

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning frameworks is particularly challenging. This paper presents a novel formulation based on Reinforcement Learning (RL) that generates fail safe trajectories wherein the SLAM generated outputs do not deviate largely from their true values. Quintessentially, the RL framework successfully learns the otherwise complex relation between perceptual inputs and motor actions and uses this knowledge to generate trajectories that do not cause failure of SLAM. We show systematically in simulations how the quality of the SLAM dramatically improves when trajectories are computed using RL. Our method scales effectively across Monocular SLAM frameworks in both simulation and in real world experiments with a mobile robot.

关键词： Monocular SLAM

Validating daily social media macroscopes of emotions

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arXiv 2021年

作者： Pellert, Max Metzler, Hannah Matzenberger, Michael Garcia, David Sony Computer Science Laboratories 6 Rue Amyot Paris75005 France Institute of Interactive Systems and Data Science Graz University of Technology Inffeldgasse 16C Graz8010 Austria Complexity Science Hub Vienna Josefstädter Straße 39 Vienna1080 Austria Section for Science of Complex Systems Center for Medical Statistics Informatics and Intelligent Systems Medical University of Vienna Spitalgasse 23 Vienna1090 Austria Institute of Globally Distributed Open Research and Education Sweden Der Standard Vordere Zollamtsstraße 13 Vienna1030 Austria

Measuring sentiment in social media text has become an important practice in studying emotions at the macroscopic level. However, this approach can suffer from methodological issues like sampling biases and measurement errors. To date, it has not been validated if social media sentiment can actually measure the temporal dynamics of mood and emotions aggregated at the level of communities. We ran a large-scale survey at an online newspaper to gather daily mood self-reports from its users, and compare these with aggregated results of sentiment analysis of user discussions. We find strong correlations between text analysis results and levels of self-reported feelings, as well as between inter-day changes of both measurements. We replicate these results using sentiment data from Twitter. We show that a combination of supervised text analysis methods based on novel deep learning architectures and unsupervised dictionary-based methods have high agreement with the time series of aggregated mood measured with self-reports. Our findings indicate that macro level dynamics of feelings expressed on an online platform can be tracked with social media text, especially in situations of high mood variability. © 2021, CC BY.

关键词： Sentiment analysis

Collaborative Measurements of Upload Speeds in P2P systems

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Collaborative Measurements of Upload Speeds in P2P Systems

2010 Proceedings IEEE INFOCOM

作者： John R. Douceur James Mickens Thomas Moscibroda Debmalya Panigrahi Distributed Systems Research Group Microsoft Research Redmond WA Computer Science and Aritificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA

ISBN: (纸本)9781424458363

In this paper, we study the theory of collaborative upload bandwidth measurement in peer-to-peer environments. A host can use a bandwidth estimation probe to determine the bandwidth between itself and any other host in the system. The problem is that the result of such a measurement may not necessarily be the sender's upload bandwidth, since the most bandwidth restricted link on the path could also be the receiver's download bandwidth. In this paper, we formally define the bandwidth determination problem and devise efficient distributed algorithms. We consider two models, the free-departure and no-departure model, respectively, depending on whether hosts keep participating in the algorithm even after their bandwidth has been determined. We present lower bounds on the time-complexity of any collaborative bandwidth measurement algorithm in both models. We then show how, for realistic bandwidth distributions, the lower bounds can be overcome. Specifically, we present O(1) and O(log log n)-time algorithms for the two models. We corroborate these theoretical findings with practical measurements on a implementation on PlanetLab.

关键词： Uploading Bandwidth Host systems Lower bound hosts

A Review of Techniques for Ageing Detection and Monitoring on embedded systems

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arXiv 2023年

作者： Lanzieri, Leandro Martino, Gianluca Fey, Goerschwin Schlarb, Holger Schmidt, Thomas C. Wählisch, Matthias Deutsches Elektronen-Synchrotron DESY HAW Hamburg Germany Institute of Embedded Systems Hamburg University of Technology Hamburg Germany Deutsches Elektronen-Synchrotron DESY Hamburg Germany Department Informatik HAW Hamburg Hamburg Germany Faculty of Computer Science TU Dresden and Barkhausen Institut Dresden Germany

embedded digital devices are progressively deployed in dependable or safety-critical systems. These devices undergo significant hardware ageing, particularly in harsh environments. This increases their likelihood of failure. It is crucial to understand ageing processes and to detect hardware degradation early for guaranteeing system dependability. In this survey, we review the core ageing mechanisms, identify and categorize general working principles of ageing detection and monitoring techniques for Commercial-Off-The-Shelf (COTS) components that are prevalent in embedded systems: Field Programmable Gate Arrays (FPGAs), microcontrollers, System-on-Chips (SoCs), and their power supplies. From our review, we find that online techniques are more widely applied on FPGAs than on other components, and see a rising trend towards machine learning application for analysing hardware ageing. Based on the reviewed literature, we identify research opportunities and potential directions of interest in the field. With this work, we intend to facilitate future research by systematically presenting all main approaches in a concise way. Copyright © 2023, The Authors. All rights reserved.

关键词： Microcontrollers

Design, implementation and simulation of an experimental processing architecture for enhancing real-time video services by combining VANET, cloud computing system and onboard navigation system

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Design, implementation and simulation of an experimental pro...

International Conference on Pervasive and embedded Computing and Communication systems (PECCS)

作者： K. Hammoudi N. Ajam M. Kasraoui F. Dornaika K. Radhakrishnan K. Bandi Q. Cai S. Liu Research Institute on Embedded Electronic Systems (IRSEEM) IIS Group St-Etienne-du-Rouvray France Department of Computer Science and Artificial Intelligence University of the Basque Country San Sebastián Spain ESIGELEC School of Engineering Department of ICT(∗MS Students) St-Etienne-du-Rouvray France

ISBN: (纸本)9781467384063

In this paper, we propose a design for novel and experimental cloud computing systems. The proposed system aims at enhancing computational, communicational and annalistic capabilities of road navigation services by merging several independent technologies, namely vision-based embedded navigation systems, prominent Cloud Computing systems (CCSs) and Vehicular Ad-hoc NETwork (VANET). This work presents our initial investigations by describing the design of a global generic system. The designed system has been experimented with various scenarios of video-based road services. Moreover, the associated architecture has been implemented on a small-scale simulator of an in-vehicle embedded system. The implemented architecture has been experimented in the case of a simulated road service to aid the police agency. The goal of this service is to recognize and track searched individuals and vehicles in a real-time monitoring system remotely connected to moving cars. The presented work demonstrates the potential of our system for efficiently enhancing and diversifying real-time video services in road environments.

关键词： Cloud computing Vehicles Roads Vehicular ad hoc networks Real-time systems Streaming media computer architecture

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

Integrating Static Code Analysis Toolchains

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arXiv 2024年

作者： Kern, Matthias Erata, Ferhat Iser, Markus Sinz, Carsten Loiret, Frederic Otten, Stefan Sax, Eric FZI Research Center for Information Technology Karlsruhe Germany Karlsruhe Institute of Technology Institut für Theoretische Informatik Karlsruhe Germany KTH Royal Institute of Technology Embedded Control Systems Stockholm Sweden Yale University Department of Computer Science New Haven United States UNIT Information Technologies Research & Development Izmir Turkey

This paper proposes an approach for a tool-agnostic and heterogeneous static code analysis toolchain in combination with an exchange format. This approach enhances both traceability and comparability of analysis results. State of the art toolchains support features for either test execution and build automation or traceability between tests, requirements and design information. Our approach combines all those features and extends traceability to the source code level, incorporating static code analysis. As part of our approach we introduce the "ASSUME Static Code Analysis tool exchange format" that facilitates the comparability of different static code analysis results. We demonstrate how this approach enhances the usability and efficiency of static code analysis in a development process. On the one hand, our approach enables the exchange of results and evaluations between static code analysis tools. On the other hand, it enables a complete traceability between requirements, designs, implementation, and the results of static code analysis. Within our approach we also propose an OSLC specification for static code analysis tools and an OSLC communication framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Static analysis

Learning to Prevent Monocular SLAM Failure using Reinforcement Learning

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arXiv 2018年

作者： Prasad, Vignesh Daga, Swapnil Yadav, Karmesh Pareekutty, Nahas Saurabh, Rohitashva Singh Madhava Krishna, K. Ravindran, Balaraman Bhowmick, Brojeshwar Embedded Systems & Robotics TCS Research & Innovation Kolkata India Robotics Research Center KCIS IIIT Hyderabad India Robotics Institute Carnegie Mellon University Pittsburgh United States Dept. of Robotics Engineering John Hopkins University Baltimore United States Dept. of Computer Science Indian Institute of Technology Madras India

关键词： Trajectories

Driving path stability in VANETs

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arXiv 2019年

作者： Laroui, Mohammed Sellami, Akrem Nour, Boubakr Moungla, Hassine Afifi, Hossam Hacene, Sofiane B. Evolutionary Engineering & Distributed Information Systems Laboratory Djillali Liabes University Sidi Bel Abbes Algeria LIPADE Paris Descartes University Sorbonne Paris Cite Paris France School of Computer Science Beijing Institute of Technology Beijing China UMR 5157 CNRS Institute Mines Telecom Telecom SudParis Nano-Innov CEA Saclay France

—Vehicular Ad Hoc Network has attracted both research and industrial community due to its benefits in facilitating human life and enhancing the security and comfort. However, various issues have been faced in such networks such as information security, routing reliability, dynamic high mobility of vehicles, that influence the stability of communication. To overcome this issue, it is necessary to increase the routing protocols performances, by keeping only the stable path during the communication. The effective solutions that have been investigated in the literature are based on the link prediction to avoid broken links. In this paper, we propose a new solution based on machine learning concept for link prediction, using LR and Support Vector Regression (SVR) which is a variant of the Support Vector Machine (SVM) algorithm. SVR allows predicting the movements of the vehicles in the network which gives us a decision for the link state at a future time. We study the performance of SVR by comparing the generated prediction values against real movement traces of different vehicles in various mobility scenarios, and to show the effectiveness of the proposed method, we calculate the error rate. Finally, we compare this new SVR method with Lagrange interpolation solution. Copyright © 2019, The Authors. All rights reserved.

关键词： Industrial research