作者：
Gorbenko, AnnaUral Federal University
Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia
The problem of the longest common subsequence is a classical distance measure for strings. There have been several attempts to accommodate longest common subsequences along with some other distance measures. There are...
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The problem of the longest common subsequence is a classical distance measure for strings. There have been several attempts to accommodate longest common subsequences along with some other distance measures. There are a large number of different variants of the problem. In this paper, we consider the constrained longest common subsequence problem for two strings and arbitrary number of constraints. In particular, we consider an explicit reduction from the problem to the satisfiability problem and present experimental results for different satisfiability algorithms. It should be noted that different regularities in experimentally obtained data reveal important information about the underlying physical system. In this paper, we consider the problem of systematic monitoring of passenger flows. In particular, we use constrained longest common subsequences for tracking the image features.
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as d...
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ISBN:
(纸本)9781467364096
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges involved in applying visual servoing to solve real world problems. This paper presents an overview of these challenges, by asking the question what are the missing components for practical visual servoing? and by providing practical possible solutions for these components. Illustration of these challenges and our current practical solutions are given using our 7-DoFs Barrett WAM Arm.
作者：
Vladimir PopovUral Federal University
Department of Intelligent Systems and Robotics Mathematics and Computer Science Institute Lenin st. 51 620083 Ekaterinburg Russia
Different planning problems for mobile robots are of considerable interest for many years. Frequently, such problems require to solve different hard computational problems. Multi-robot forest coverage is one of such c...
Different planning problems for mobile robots are of considerable interest for many years. Frequently, such problems require to solve different hard computational problems. Multi-robot forest coverage is one of such computational problems. In this paper, we consider an efficient approach to solve the problem of multi-robot forest coverage for unweighted terrain. In particular, we consider an explicit reduction from the decision version of the problem of multi-robot forest coverage for unweighted terrain to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.
Through propagating information over time, process models serve a vital in any multi-time step estimation algorithm. However, they can introduce nonlinearities which can significantly degrade the performance of an est...
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ISBN:
(纸本)9781479901777
Through propagating information over time, process models serve a vital in any multi-time step estimation algorithm. However, they can introduce nonlinearities which can significantly degrade the performance of an estimator. In this paper, we investigate the impact of the parameter-isation of the process model in posegraph-based formulations of filtering and estimation algorithms. Exploiting the flexibility and conditional independence structure of a posegraph, we develop two formulations of a process noise model of a vehicle - one in Euclidean space, the other in polar space. Using moment-matching, we develop exact closed form solutions for the first two moments of a Gaussian distribution propagated through both models. We analyse the effects of both formulations in the context of a Simultaneous Localisation and Mapping (SLAM) problem. We show that, by representing the "arc-like" nature of the prediction error more accurately, the polar form is more accurate, more robust, and is less computationally expensive than the Euclidean form.
Recent advances in the understanding of animal locomotion have proven it to be a key element of many fields in biology, motion science, and robotics. For the analysis of walking animals, high-speed x-ray videography i...
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作者：
Anna GorbenkoUral Federal University
Department of Intelligent Systems and Robotics Mathematics and Computer Science Institute Lenin st. 51 620083 Ekaterinburg Russia
Many robotic tasks require advanced systems of visual sensing. Robotic systems of visual sensing must be able to solve a number of different complex problems of visual data analysis. Object categorization is one of su...
Many robotic tasks require advanced systems of visual sensing. Robotic systems of visual sensing must be able to solve a number of different complex problems of visual data analysis. Object categorization is one of such problems. In this paper, we propose an approach to automatic generation of computationally effective modules of object categorization for autonomous mobile robots. This approach is based on the consideration of the stack cover problem. In particular, it is assumed that the robot is able to perform an initial inspection of the environment. After such inspection, the robot needs to solve the stack cover problem by using a supercomputer. A solution of the stack cover problem allows the robot to obtain a template for computationally effective scheduling of object categorization. Also, we consider an efficient approach to solve the stack cover problem. In particular, we consider an explicit reduction from the decision version of the stack cover problem to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.
We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. T...
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In this paper, we consider the Hamiltonian alternating path problem for graphs, multigraphs, and digraphs. We describe an approach to solve the problem. This approach is based on constructing logical models for the pr...
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In this paper, we consider the Hamiltonian alternating path problem for graphs, multigraphs, and digraphs. We describe an approach to solve the problem. This approach is based on constructing logical models for the problem. We use logical models for the Hamiltonian alternating path problem to solve the Hamiltonian path problem and the planning a typical working day for indoor service robots problem. Also, we use these models for Bennett's model of cytogenetics, automatic generation of recognition modules, and algebraic data.
Arc-annotated sequences are useful in representing the structural information of RNA and protein sequences. In particular, arc-annotated sequences are useful in describing the secondary and tertiary structures of RNA ...
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Arc-annotated sequences are useful in representing the structural information of RNA and protein sequences. In particular, arc-annotated sequences are useful in describing the secondary and tertiary structures of RNA and protein sequences. Structure comparison for RNA and for protein sequences has become a central computational problem bearing many challenging computerscience questions. The longest arc-preserving common subsequence problem has been introduced as a framework for studying the similarity of arc-annotated sequences. It is a sound and meaningful mathematical formalization of comparing the secondary structures of molecular sequences. In this paper, we consider two special cases of the longest arc-preserving common subsequence problem, efragment LAPCS (unlimited, plain), c-fragment LAPCS (unlimited, unlimited). In particular, we consider a parameterized version of the 1-fragment LAPCS (unlimited, plain) problem, parameterized by the length l of the desired subsequence. We show W[1]-completeness of the problem. Also, we describe an approach to solve c-fragment LAPCS (unlimited, unlimited). This approach is based on constructing logical models for the problem.
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