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Spatially temporally distributed informative path planning for multi-robot systems
Mar 25, 2024
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their movements to build a Gaussian Process (GP) model of a spatio-temporal field. The model is then utilized to predict the spatio-temporal phenomenon at different points of interest. To spatially and temporally navigate the group of robots so that they can optimally acquire maximal information gains while their connectivity is preserved, we propose a novel multistep prediction informative path planning optimization strategy employing our newly defined local cost functions. By using the dual decomposition method, it is feasible and practical to effectively solve the optimization problem in a distributed manner. The proposed method was validated through synthetic experiments utilizing real-world data sets.
Vector Learning for Cross Domain Representations
Sep 27, 2018
Recently, generative adversarial networks have gained a lot of popularity for image generation tasks. However, such models are associated with complex learning mechanisms and demand very large relevant datasets. This work borrows concepts from image and video captioning models to form an image generative framework. The model is trained in a similar fashion as recurrent captioning model and uses the learned weights for image generation. This is done in an inverse direction, where the input is a caption and the output is an image. The vector representation of the sentence and frames are extracted from an encoder-decoder model which is initially trained on similar sentence and image pairs. Our model conditions image generation on a natural language caption. We leverage a sequence-to-sequence model to generate synthetic captions that have the same meaning for having a robust image generation. One key advantage of our method is that the traditional image captioning datasets can be used for synthetic sentence paraphrases. Results indicate that images generated through multiple captions are better at capturing the semantic meaning of the family of captions.
Batch-normalized Recurrent Highway Networks
Sep 26, 2018
Gradient control plays an important role in feed-forward networks applied to various computer vision tasks. Previous work has shown that Recurrent Highway Networks minimize the problem of vanishing or exploding gradients. They achieve this by setting the eigenvalues of the temporal Jacobian to 1 across the time steps. In this work, batch normalized recurrent highway networks are proposed to control the gradient flow in an improved way for network convergence. Specifically, the introduced model can be formed by batch normalizing the inputs at each recurrence loop. The proposed model is tested on an image captioning task using MSCOCO dataset. Experimental results indicate that the batch normalized recurrent highway networks converge faster and performs better compared with the traditional LSTM and RHN based models.
Semantic Sentence Embeddings for Paraphrasing and Text Summarization
Sep 26, 2018
This paper introduces a sentence to vector encoding framework suitable for advanced natural language processing. Our latent representation is shown to encode sentences with common semantic information with similar vector representations. The vector representation is extracted from an encoder-decoder model which is trained on sentence paraphrase pairs. We demonstrate the application of the sentence representations for two different tasks -- sentence paraphrasing and paragraph summarization, making it attractive for commonly used recurrent frameworks that process text. Experimental results help gain insight how vector representations are suitable for advanced language embedding.
Bounded Distributed Flocking Control of Nonholonomic Mobile Robots
May 11, 2017
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol which is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.
Distributed Formation Control of Nonlonolomic Mobile Robots by Bounded Feedback in the Presence of Obstacles
May 09, 2017
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a repulsive force. In an uncertain environment where obstacles exist, the construction of repulsive force and rotational direction enables agents to avoid and pass the obstacles. The control inputs of each robot are designed to be bounded. Numerical simulations with different formations are implemented to demonstrate the efficacy of the proposed scheme.
Distributed Formation Control for Autonomous Robots in Dynamic Environments
May 04, 2017
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include the virtual nodes arranged into specific shapes, are first generated. Then, autonomous robots are controlled by the proposed artificial force fields in order to converge to these virtual nodes without collisions. The stability analysis based on the Lyapunov approach is given. Moreover, a new combination of rotational force field and repulsive force field in designing an obstacle avoidance controller allows the robot to avoid and escape the convex and nonconvex obstacle shapes. The V-shape and circular shape formations with their advantages are utilized to test the effectiveness of the proposed method.