Question: Semi-automated mapping for swift implementation of AGV fleets in contemporary logistics operations.

This paper introduces V-Clip, an advanced collision detection algorithm tailored for polyhedral objects represented through boundary definitions. V-Clip's design is inspired by the Lin-Canny closest features algorithm but surpasses it in several critical aspects. The algorithm simplifies coding complexity and markedly enhances robustness, boasting an implementation devoid of numerical tolerances and immune to cycling issues. A distinguishing feature of V-Clip is its capability to handle penetrating polyhedra, making it applicable for collision detection between non-convex polyhedra, which can be described as hierarchies of convex components. The paper elucidates the theoretical underpinnings of V-Clip, provides a pseudocode outline of the algorithm, and presents a series of comparative tests against the Lin-Canny algorithm and the Enhanced GJK algorithm, a popular simplex-based method for similar applications. The outcomes highlight V-Clip's competitiveness, with superior performance and robustness in the majority of the conducted tests.

**Question**: The Role of Virtual Reality in Enhancing Surgical Training

**Documents**: A Comparative Study of Virtual Reality and Traditional Methods in Teaching Surgical Skills
This paper presents a comparative study between virtual reality (VR) and traditional methods in teaching surgical skills. A group of medical students was randomly divided into two groups, one group was trained using VR, and the other group was trained using traditional methods. The results show that the VR group performed significantly better in terms of both speed and accuracy in a subsequent surgical simulation test. The study also found that the VR group had a higher level of confidence and a lower level of stress compared to the traditional methods group. The paper concludes that VR can be an effective tool in teaching surgical skills, and it has the potential to replace traditional methods in the future.

**Similar Documents**: This study explores the comparative effectiveness of virtual reality (VR) versus conventional methods in the instruction of surgical techniques. Medical students were randomly segregated into two cohorts: one trained through VR simulations, the other through traditional instruction. The outcomes revealed that the VR-trained group outperformed the traditionally trained cohort, demonstrating notably superior speed and precision in a subsequent surgical simulation assessment. Additionally, the VR group reported heightened confidence levels and reduced stress in comparison to their counterparts. The study's conclusion underscores the potential of VR as a potent pedagogical tool for surgical skill acquisition, positing its future role as a potential successor to traditional teaching methods.

Purpose – The aim of this paper is to provide a review of recent developments in the application of swarm intelligence to robotics. Design/methodology/approach – This paper initially considers swarm intelligence and then discusses its application to robotics through reference to a number of recent research programmes. Findings – Based on the principles of swarm intelligence, which is derived from the swarming behaviour of biological entities, swarm robotics research is widespread but still at an early stage. Much aims to gain an understanding of biological swarming and apply it to autonomous, mobile multi-robot systems. European activities are particularly strong and several large, collaborative projects are underway. Research in the USA has a military bias and much is funded by defence agencies. Originality/value – The paper provides an up-to-date insight into swarm robot research and development.

Autonomous micro aerial vehicles (MAVs) will soon play a major role in tasks such as search and rescue, environment monitoring, surveillance, and inspection. They allow us to easily access environments to which no humans or other vehicles can get access. This reduces the risk for both the people and the environment. For the above applications, it is, however, a requirement that the vehicle is able to navigate without using GPS, or without relying on a preexisting map, or without specific assumptions about the environment. This will allow operations in unstructured, unknown, and GPS-denied environments. We present a novel solution for the task of autonomous navigation of a micro helicopter through a completely unknown environment by using solely a single camera and inertial sensors onboard. Many existing solutions suffer from the problem of drift in the xy plane or from the dependency on a clean GPS signal. The novelty in the here-presented approach is to use a monocular simultaneous localization and mapping (SLAM) framework to stabilize the vehicle in six degrees of freedom. This way, we overcome the problem of both the drift and the GPS dependency. The pose estimated by the visual SLAM algorithm is used in a linear optimal controller that allows us to perform all basic maneuvers such as hovering, set point and trajectory following, vertical takeoff, and landing. All calculations including SLAM and controller are running in real time and online while the helicopter is flying. No offline processing or preprocessing is done. We show real experiments that demonstrate that the vehicle can fly autonomously in an unknown and unstructured environment. To the best of our knowledge, the here-presented work describes the first aerial vehicle that uses onboard monocular vision as a main sensor to navigate through an unknown GPS-denied environment and independently of any external artificial aids. C © 2011 Wiley Periodicals, Inc.

We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.

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In this paper, we propose a novel planning framework that can greatly improve the level of intelligence and driving quality of autonomous vehicles. A reference planning layer first generates kinematically and dynamically feasible paths assuming no obstacles on the road, then a behavioral planning layer takes static and dynamic obstacles into account. Instead of directly commanding a desired trajectory, it searches for the best directives for the controller, such as lateral bias and distance keeping aggressiveness. It also considers the social cooperation between the autonomous vehicle and surrounding cars. Based on experimental results from both simulation and a real autonomous vehicle platform, the proposed behavioral planning architecture improves the driving quality considerably, with a 90.3% reduction of required computation time in representative scenarios.

Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3arm manipulator. Because of the overall instability of rotorcraft, we use a motion capture system to build an efficient autopilot. Our results indicate that we can accurately model and control our prototype system given significant disturbances when both moving the manipulators and interacting with the ground.

Based on the autonomous field robot BoniRob, which was developed for plant phenotyping, the authors have created an enhanced platform BoniRob (V2). The design of BoniRob (V2) considers two main improvements: At first the robustness for continuous outdoor use is increased and secondly the robot now makes available a reusable platform that can serve for multiple agricultural purposes. The combination of the platform BoniRob (V2) and application modules (“BoniRob-Apps”) is comparable to the classical combination of a tractor and an implement. In order to demonstrate this new concept, the authors have implemented three BoniRob-Apps, which can be integrated in BoniRob (V2) via defined mechanical, electrical and logical interfaces. The research project RemoteFarming.1 goes even beyond the accomplishment of a specific task by a robot and demonstrates the integration of the BoniRob (V2) platform into agricultural processes. For that purpose innovative agricultural engineering is combined with webbased communication technologies. The target is to develop a robotic mechanical weed control system which integrates a human user as remote worker in the process. The robotic weed control system is used for intra row weed treatment in carrots at BBCH-scales 10 to 20 in organic farming. This task is today conducted by hand. Introduction In recent years a variety of field robot prototypes have been proposed. They cover several applications, such as scouting and sampling, precise variable rate application of pesticides and fertilizers as well as autonomous weeding [1][2]. However, until now there is no commercial application of autonomous field operation in agriculture available. This is partly due to open issues regarding safety and legal requirements of autonomous operations [3].Another problem of the presented prototypes for autonomous field robots is their conception as single-purpose robots, despite there being several applications with market potential [6]. As the single-purpose concept leads typically would lead high costs due to a low workload over the year (specific tasks are required over only a short period of time), the systems are not economically feasible yet. To overcome this barrier a new concept for a multipurpose field robot is shown here. Multipurpose field robot platform BoniRob (V2) The BoniRob (V2) platform has been designed as an improved version of the BoniRob crop scout, which has been announced by the authors [5]. The BoniRob (V2) is shown in Fig 1. Fig.1: BoniRob (V2) during a RemoteFarming.1 field trial It was reengineered with focus on robustness and reusability. This manifests in increases of power supply by the electrical generator, continuous and peak torque at the wheel drives as well as chassis clearance (Table 1). Table 1: Technical figures of BoniRob (V2) BoniRob crop scout BoniRob (V2) platform Power of electric generator 2.0 kW 2.6 kW Battery’s capacity 110 Ah 170 Ah Continuous drive torque (per wheel) 55 Nm 70 Nm Peak drive torque (per wheel) 110 Nm 240 Nm As it can be seen in Fig.1, the height adjustment of the entire robot body was replaced by vertically fixed arms for each wheel, which can be rotated in the horizontal plane for adjustment of track width and centration of the robot body over the row to be treated. The hydraulic height adjustment was replaced by a manual, mechanical height-adjustment module frame. Furthermore, all other hydraulic drives were replaced by electrical systems. The BoniRob-App concept Using the multipurpose field robot platform BoniRob (V2) as a carrier, supplier and base for multiple BoniRob-Apps can be compared to the traditional combination of a single tractor with multiple implements. BoniRob-Apps can be integrated into the platform using defined mechanical, electrical and logical interfaces. The module frame of 0.77 m x 0.75 m in the centre of the robot allows mechanically attaching the BoniRob-App (Fig. 2). The mounting height can be adjusted in a range of 0.4 m. The electrical connection is set up using a custom plug. This provides energy supply to the BoniRob-App and different voltage levels (230V AC, 24 V DC, 12 V DC, 5 V DC). Moreover, it allows linking the emergency stop infrastructure of platform and App, such that even the App can stop the entire robot in case of emergency. Also, the custom plug sets up a Gigabit-Ethernet connection to the host-computer on BoniRob (V2). The entire communication infrastructure on BoniRob (V2) and between platform and the Apps is designed using Ethernet and ROS [4]. A sequence controller with 2 levels opens the way for distributed drive control of the robot. In the row the App (level 2 sequence controller) can access the drive control. On the headland the platform (level 1 sequence controller) holds the access to the drive control and runs the turn procedure of the robot. This Fig. 2: Multiple BoniRob-Apps can be used in the same platform allows switching the access to the drive depending on the state including letting the App control the drive train of the robot in properly defined situations. Again, this can be compared to a tractor-implement combination. In recent years in the field of Tractor Implement Management advances have been made towards control of the tractor by the implement in specific situations, because the implement and its sensors are closer to the process and more specifically adapted to it. This also shows that BoniRob-Apps are more than just tools to be used with the BoniRob (V2) platform but smart combinations of mechanical and electrical systems together with processand application-specific intelligence. BoniRob-Apps: Demonstrating examples In order to demonstrate the new concept, the authors implemented three BoniRob-Apps:

The problem of path planning for an automaton moving in a two-dimensional scene filled with unknown obstacles is considered. The automaton is presented as a point; obstacles can be of an arbitrary shape, with continuous boundaries and of finite size; no restriction on the size of the scene is imposed. The information available to the automaton is limited to its own current coordinates and those of the target position. Also, when the automaton hits an obstacle, this fact is detected by the automaton's “tactile sensor.” This information is shown to be sufficient for reaching the target or concluding in finite time that the target cannot be reached. A worst-case lower bound on the length of paths generated by any algorithm operating within the framework of the accepted model is developed; the bound is expressed in terms of the perimeters of the obstacles met by the automaton in the scene. Algorithms that guarantee reaching the target (if the target is reachable), and tests for target reachability are presented. The efficiency of the algorithms is studied, and worst-case upper bounds on the length of generated paths are produced.

Recent advances in autonomous vehicle technology will open the door to highly efficient transportation systems in the future, as demonstrated by Autonomous Intersection Management, an intersection control protocol designed for fully autonomous vehicles. We, however, anticipate there will be a long transition period during which most vehicles have some but not all capabilities of fully autonomous vehicles. This chapter introduces a new protocol called Semi-Autonomous Intersection Management, which allows vehicles with partiallyautonomous features such as adaptive cruise control to enter an intersection from different directions simultaneously. Our experiments show that this protocol can greatly decrease traffic delay when most vehicles are semi-autonomous. Our incremental deployment study reveals that traffic delay keeps decreasing as more and more vehicles employ features of autonomy.

Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem. A novel technique is introduced that utilises an attractor combined with local planning strategies such as model predictive control (a.k.a. receding horizon) to solve this problem. An attractor provides high level task intentions and incorporates global information about the environment for the local planner, thereby eliminating the need for costly global planning with longer horizons. It is demonstrated that trajectory planning with an attractor results in improved performance over systems that have local planning alone


Question: Semi-automated mapping for swift deployment of AGV fleets in contemporary logistics operations.

A Comprehensive Review of Vision-Based Navigation for Mobile Robots: Recent Advances and Future Directions

This review paper provides an extensive overview of the recent advancements in vision-based navigation for mobile robots, focusing on the past two decades. The discussion is structured around two primary contexts: indoor and outdoor navigation. For indoor navigation, particularly in structured environments, the review delves into the use of both geometrical and topological models for spatial representation. In unstructured environments, the paper explores navigation strategies that utilize optical flow analysis, appearance-based methods, and the recognition of distinct environmental features. This comprehensive analysis offers insights into the evolving landscape of vision-based navigation techniques for mobile robots, highlighting their application in diverse settings and the ongoing challenges in achieving robust autonomous operation.

The paper aims to synthesize the wealth of research in this area, emphasizing the transition from theoretical frameworks to practical implementation. It also identifies gaps in the current methodologies and suggests potential areas for future exploration, such as improving the efficiency of optical flow processing, enhancing the accuracy of appearance-based recognition in dynamic environments, and developing more sophisticated object recognition algorithms that can operate under varying lighting and environmental conditions. This review serves as a valuable resource for researchers and practitioners interested in advancing the capabilities of mobile robots in both indoor and outdoor navigation scenarios.

In the human robot coexisting environment, to reach the goal efficiently and safely is very meaningful for the mobile service robot. In this paper, a Risk based Rapidly-exploring Random Tree for optimal motion planning (Risk-RRT∗) algorithm is proposed by combining the comfort and collision risk (CCR) map with the RRT∗ algorithm, which provides a variant of the RRT∗ algorithm in the dynamic human robot coexisting environment. In the experiments, the time cost in the navigation process and the length of the trajectory are utilized for the evaluation of the proposed algorithm. A comparison with the Risk-RRT algorithm is carried out and experimental results reveal that our proposed algorithm can achieve a better performance than that of the Risk-RRT in both static and dynamic environments.

Currently autonomous or self-driving vehicles are at the heart of academia and industry research becauseof itsmulti-faceted advantages that includes improved safety, reduced congestion, lower emissions and greater mobility. Software is the key driving factor underpinning autonomy within which planning algorithms that are responsible for mission-critical decision making hold a significant position. While transporting passengers or goods from a givenorigin to agivendestination,motionplanningmethods incorporate searching for apath to follow, avoiding obstacles and generating the best trajectory that ensures safety, comfort and efficiency. A range of different planning approaches have beenproposed in the literature. Thepurpose of this paper is to reviewexisting approaches and then compare and contrast different methods employed for the motion planning of autonomous on-road driving that consists of (1)findingapath, (2) searching for the safestmanoeuvre and (3)determining themost feasible trajectory. Methods developed by researchers in each of these three levels exhibit varying levels of complexity and performance accuracy. This paper presents a critical evaluation of each of these methods, in terms of their advantages/disadvantages, inherent limitations, feasibility, optimality, handling of obstacles and testing operational environments. Based on a critical review of existingmethods, research challenges to address current limitations are identified and future research directions are suggested so as to enhance the performanceofplanningalgorithmsat all three levels. Somepromising areasof future focushave been identified as the use of vehicular communications (V2V and V2I) and the incorporation of transport engineering aspects in order to improve the look-ahead horizon of current sensing technologies that are essential for planning with the aim of reducing the total cost of driverless vehicles. This critical reviewon planning techniques presented in this paper, along with theassociateddiscussions on their constraints and limitations, seek to assist researchers in accelerating development in the emerging field of autonomous vehicle research. Crown Copyright 2015 Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).

This paper focuses on route planning, especially for unmanned aircrafts in marine environment. Firstly, new heuristic information is adopted such as threat-zone, turn maneuver and forbid-zone based on voyage heuristic information. Then, the cost function is normalized to obtain more flexible and reasonable routes. Finally, an improved sparse A* search algorithm is employed to enhance the planning efficiency and reduce the planning time. Experiment results showed that the improved algorithm for aircraft in maritime environment could find a combinational optimum route quickly, which detoured threat-zones, with fewer turn maneuver, totally avoiding forbid-zones, and shorter voyage.

The paper describes how a high-level abstract world model can be used to support the decision-making process of an autonomous driving system. The approach uses a hierarchical world model and distinguishes between a low-level model for the trajectory planning and a high-level model for solving the traffic coordination problem. The abstract world model used in the CyberCars-2 project is presented. It is based on a topological lane segmentation and introduces relations to represent the semantic context of the traffic scenario. This makes it much easier to realize a consistent and complete driving control system, and to analyze, evaluate and simulate such a system.

This paper describes a mapping system that acquires 3D object models of man-made indoor environments such as kitchens. The system segments and geometrically reconstructs cabinets with doors, tables, drawers, and shelves, objects that are important for robots retrieving and manipulating objects in these environments. The system also acquires models of objects of daily use such glasses, plates, and ingredients. The models enable the recognition of the objects in cluttered scenes and the classification of newly encountered objects. Key technical contributions include (1) a robust, accurate, and efficient algorithm for constructing complete object models from 3D point clouds constituting partial object views, (2) feature-based recognition procedures for cabinets, tables, and other task-relevant furniture objects, and (3) automatic inference of object instance and class signatures for objects of daily use that enable robots to reliably recognize the objects in cluttered and real task contexts. We present results from the sensor-based mapping of a real kitchen.

Recent advances in autonomous vehicle technology will open the door to highly efficient transportation systems in the future, as demonstrated by Autonomous Intersection Management, an intersection control protocol designed for fully autonomous vehicles. We, however, anticipate there will be a long transition period during which most vehicles have some but not all capabilities of fully autonomous vehicles. This chapter introduces a new protocol called Semi-Autonomous Intersection Management, which allows vehicles with partiallyautonomous features such as adaptive cruise control to enter an intersection from different directions simultaneously. Our experiments show that this protocol can greatly decrease traffic delay when most vehicles are semi-autonomous. Our incremental deployment study reveals that traffic delay keeps decreasing as more and more vehicles employ features of autonomy.

We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of relocation problem must be satisfied. We introduce a general problem formulation that encompasses known types of item relocation problems such as multi-agent path finding (MAPF) and token swapping (TSWAP). In this formulation we express two new types of relocation problems derived from token swapping that we call token rotation (TROT) and token permutation (TPERM). Our solving approach for item relocation combines satisfiability modulo theory (SMT) with conflict-based search (CBS). We interpret CBS in the SMT framework where we start with the basic model and refine the model with a collision resolution constraint whenever a collision between items occurs in the current solution. The key difference between the standard CBS and our SMT-based modification of CBS (SMT-CBS) is that the standard CBS branches the search to resolve the collision while in SMT-CBS we iteratively add a single disjunctive collision resolution constraint. Experimental evaluation on several benchmarks shows that the SMT-CBS algorithm significantly outperforms the standard CBS. We also compared SMT-CBS with a modification of the SAT-based MDD-SAT solver that uses an eager modeling of item relocation in which all potential collisions are eliminated by constrains in advance. Experiments show that lazy approach in SMT-CBS produce fewer constraint than MDD-SAT and also achieves faster solving run-times.

This paper describes an algorithm for deploying the members of a mobile robot team into an unknown environment. The algorithm deploys robots one-at-a-time, with each robot making use of information gathered by the previous robots to determine the next deployment location. The deployment pattern is designed to maximize the area covered by the robots’ sensors, while simultaneously ensuring that the robots maintain line-of-sight contact with one another. This paper describes the basic algorithm and presents results obtained from a series of experiments conducted using both real and simulated

This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal for implementations on tiny robots with limited resources. Closer inspection, however, shows that many of these Bug Algorithms assume perfect global position estimate of the robot which in GPS-denied environments implies considerable expenses of computation and memory – relying on accurate Simultaneous Localization And Mapping (SLAM) or Visual Odometry (VO) methods. We compare a selection of Bug Algorithms in a simulated robot and environment where they endure different types noise and failure-cases of their on-board sensors. From the simulation results, we conclude that the implemented Bug Algorithms’ performances are sensitive to many types of sensor-noise, which was most noticeable for odometry-drift. This raises the question if Bug Algorithms are suitable for real-world, on-board, robotic navigation as is. Variations that use multiple sensors to keep track of their progress towards the goal, were more adept in completing their task in the presence of sensor-failures. This shows that Bug Algorithms must spread their risk, by relying on the readings of multiple sensors, to be suitable for real-world deployment.

The RoadGraph is a graph based environmental model for driver assistance systems. It integrates information from different sources like digital maps, onboard sensors and V2X communication into one single model about the vehicle's environment. At the moment of information aggregation some function independent situation analysis is done. In this paper we look at techniques for lane-precise map-matching even with moderate GPS reception using distinct information sources. We also analyze the concepts of aggregating objects from different sources with a-priori knowledge of the street-layout. Results of this novelty approach are shown.


Question: Semi-automated mapping for rapid deployment of AGV fleets in contemporary logistics operations.

This paper demonstrates the application of contemporary geometric optimal control theory to determine the shortest paths for a simplified car model capable of forward and reverse motion. This investigation builds upon prior research by Reeds and Shepp, who established (a) that the shortest path for such a vehicle can always be achieved using a specific trajectory pattern, specifically a sequence of no more than five segments, each being either a straight line or a circular arc, and (b) that these sequences can be categorized into 48 distinct three-parameter families. The current study elucidates how these findings are situated within a broader theoretical framework and can be systematically derived and proven by employing the methodologies of Optimal Control Theory. It is shown that the traditional tools of optimal control, such as the Pontryagin Maximum Principle and theorems on the existence of optimal trajectories, developed in the 1960s, provide partial insights into the shortest paths but are insufficient for a comprehensive understanding. However, by integrating these classical techniques with more recent advancements in geometric theory, particularly the Lie algebraic analysis of trajectories, one can replicate and even slightly enhance the results of Reeds and Shepp, reducing their 48 trajectory families to a more concise 46.

In the context of Automated Guided Vehicle (AGV) fleet management in contemporary logistics, the relevance of this research is substantial. The efficient deployment and routing of AGVs, which are crucial for optimizing warehouse operations and material handling, can significantly benefit from the application of optimal control theory. The methods described in this paper for determining shortest paths for a simplified car model can be analogously applied to AGVs, enabling the semi-automated creation of optimal routes for AGV fleets. This approach not only accelerates the deployment of AGVs in dynamic warehouse environments but also ensures their efficient operation, thereby enhancing overall logistics performance. By leveraging the geometric techniques and optimal control theory discussed herein, logistics managers can achieve fast and effective AGV fleet deployment, leading to significant improvements in operational efficiency and cost savings.

Modeling and tracking the driving environment is a complex problem due to the heterogeneous nature of the real world. In many situations, modeling the obstacles and the driving surfaces can be achieved by the use of geometrical objects, and tracking becomes the problem of estimating the parameters of these objects. In the more complex cases, the scene can be modeled and tracked as an occupancy grid. This paper presents a novel occupancy grid tracking solution based on particles for tracking the dynamic driving environment. The particles will have a dual nature-they will denote hypotheses, as in the particle filtering algorithms, but they will also be the building blocks of our modeled world. The particles have position and speed, and they can migrate in the grid from cell to cell, depending on their motion model and motion parameters, but they will be also created and destroyed using a weighting-resampling mechanism that is specific to particle filtering algorithms. The tracking algorithm will be centered on particles, instead of cells. An obstacle grid derived from processing a stereovision-generated elevation map is used as measurement information, and the measurement model takes into account the uncertainties of the stereo reconstruction. The resulting system is a flexible real-time tracking solution for dynamic unstructured driving environments.

One of the most important areas of research on mobile robots is that of their moving from one point in a space to the other and that too keeping aloof from the different objects in their path i. e. real time obstacle detection. This is the basic problem of path planning through a continuous domain. For this a large number of algorithms have been proposed of which only a few are really good as far as local and global path planning are concerned as to some extent a trade of has to be made between the efficiency of the algorithm and its accuracy. In this project an integrated approach for both local as well as global path planning of a robot has been proposed. The primary algorithm that has been used for path planning is the artificial Potential field approach [1] and a* search algorithm has been used for finding the most optimum path for the robot. Obstacle detection for collision avoidance (a high level planning problem) can be effectively done by doing complex robot operations in real time and distributing the whole problem between different control levels. This project proposes the artificial potential field algorithm not only for static but also for moving obstacles using real time potential field values by creating sub-goals which eventually lead to the main goal of the most optimal complete path found by the A* search algorithm. Apart from these scan line and convex hull techniques have been used to improve the robustness of the algorithm. To some extent the shape and size of a robot has also been taken into consideration. The effectiveness of these algorithms has been

Consider the two characteristics: (1) Simultaneous localization and mapping (SLAM) is a popular algorithm for autonomous underwater vehicle, but visual SLAM is significantly influenced by weak illumination. (2)Geomagnetism-aided navigation and gravity-aided navigation are equally important methods in the field of vehicle navigation, but both are affected heavily by time-varying noises and terrain fluctuations. However, magnetic gradient vector can avoid the influence of time-varying noises, and is less affected by terrain fluctuations. To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model. (2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment. Experimental results show that our proposed method is an effective solution, combining magnetic gradient information with SLAM.

Many Advanced Driver Assistance Systems (ADAS) have been developed to improve car safety. However, it is still a challenging problem to make autonomous vehicles to drive safely on urban streets such as uncontrolled intersections (without traffic lights) and narrow roads. In this paper, we introduce a decision making system that can assist autonomous vehicles at uncontrolled intersections and narrow roads. We constructed a machine understandable ontology-based Knowledge Base, which contains maps and traffic regulations. The system makes decisions in comply with traffic regulations such as Right-Of-Way rules when it receives a collision warning signal. The decisions are sent to a path planning system to change the route or stop to avoid collisions.

C onstruction is of prime economic significance to many industry sectors. Intense competition, shortages of skilled labor, and technological advances are forcing rapid change in the construction industry, thus motivating construction automation [1]. Earthmoving machines, such as bulldozers, wheel loaders, excavators, scrapers, and graders, are common in construction. Excavationbased operations are used in general earthmoving, digging, and sheet-piling for displacing large amounts of material. On a smaller scale, operations such as trenching and footing formation require precisely controlled excavation. Although the fully automated construction site is still a dream of some civil engineers, research developments have shown the promise of robotics and automation in construction [2]. Despite the apparent economic importance of excavation in construction, there have been few implementations of autonomous or teleoperated excavators. A number of researchers have investigated the feasibility of automating excavation. Many of these studies have addressed the possible use of autonomous excavators during unmanned phases of establishing manned Lunar or Martian research stations [3], [4]. Much of the work on terrestrial excavation has focused on teleoperation, rather than on the system requirements for autonomous operation. Although there have been a number of valuable theoretical and experimental contributions to the field of autonomous, robotic or teleoperated excavation [5]-[8], autonomous operation of a full-scale excavator has not been commercially demonstrated. Many of the experimental studies reported in the literature involve using conventional industrial robots fitted with buckets to excavate in a bed of loose sand. While there are parallels between “classical” robotics and robotic excavation, there are also some pronounced differences. In particular, an excavator is not fixed relative to the work piece; it plastically deforms the work piece by applying large forces and is caused to move relative to the soil by the same large forces. Furthermore, strategic and bucket trajectory planning must necessarily occur in a dynamic environment; if the excavator is not changing the profile of the soil being worked, it is not doing useful work. This article presents some results of the autonomous excavation project conducted at the Australian Centre for Field Robotics (ACFR) with a focus on construction automation. The application of robotic technology and computer control is one key to construction industry automation. Excavation automation is a multidisciplinary task, encompassing a broad area of research and development planning monitoring environment sensing and modeling navigation machine modeling and control. The ultimate goal of the ACFR excavation project is to demonstrate fully autonomous execution of excavation tasks in

Nowadays, GPS-based car navigation systems mainly use speech and aerial views of simplified road maps to guide drivers to their destination. However, drivers often experience difficulties in linking the simple 2D aerial map with the visual impression that they get from the real environment, which is inherently ground-level based. Therefore, supplying realistically textured 3D city models at ground-level proves very useful for pre-visualizing an upcoming traffic situation. Because this pre-visualization can be rendered from the expected future viewpoints of the driver, the latter will more easily understand the required maneuver. 3D city models can be reconstructed from the imagery recorded by surveying vehicles. The vastness of image material gathered by these vehicles, however, puts extreme demands on vision algorithms to ensure their practical usability. Algorithms need to be as fast as possible and should result in compact, memory efficient 3D city models for future ease of distribution and visualization. For the considered application, these are not contradictory demands. Simplified geometry assumptions can speed up vision algorithms while automatically guaranteeing compact geometry models. We present a novel city modeling framework which builds upon this philosophy to create 3D content at high speed which could allow for pre-visualization of any conceivable traffic situation by car navigation modules.

In robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it, and analyze its traversability. To allow for real-time execution on constrained hardware, the map usually estimated by feature-based or semidense SLAM algorithms is a sparse point cloud; a richer and more complete representation of the environment is desirable. Existing dense mapping algorithms require extensive use of graphics processing unit (GPU) computing and they hardly scale to large environments; incremental algorithms from sparse points still represent an effective solution when light computational effort is needed and big sequences have to be processed in real time. In this letter, we improved and extended the state-of-the-art incremental manifold mesh algorithm proposed by Litvinov and Lhuillier and extended by Romanoni and Matteucci. While these algorithms do not reconstruct the map in real time and they embed points from SLAM or structure from motion only when their position is fixed, in this letter, we propose the first incremental algorithm able to reconstruct a manifold mesh in real time through single core CPU processing, which is also able to modify the mesh according to three-dimensional points updates from the underlying SLAM algorithm. We tested our algorithm against two state-of-the-art incremental mesh mapping systems on the KITTI dataset, and we showed that, while accuracy is comparable, our approach is able to reach real-time performances thanks to an order of magnitude speed-up.

In the near future, humans will be relieved from parking. Major improvements in autonomous driving allow the realization of automated valet parking (AVP). It enables the vehicle to drive to a parking spot and park itself. This paper presents a review of the intelligent vehicles literature on AVP. An overview and analysis of the core components of AVP such as the platforms, sensor setups, maps, localization, perception, environment model, and motion planning is provided. Leveraging the potential of AVP, high density parking (HDP) is reviewed as a future research direction with the capability to either reduce the necessary space for parking by up to 50 % or increase the capacity of future parking facilities. Finally, a synthesized view discussing the remaining challenges in automated valet parking and the technological requirements for high density parking is given.

In this paper, we discuss a significant open problem in mobile robotics: simultaneous map building and localization, which we define as long-term globally referenced position estimation without a priori information. This problem is difficult because of the following paradox: to move precisely, a mobile robot must have an accurate environment map; however, to build an accurate map, the mobile robot’s sensing locations must be known precisely. In this way, simultaneous map building and localization can be seen to present a question of “which came first, the chicken or the egg?” (The map or the motion?) When using ultrasonic sensing, to overcome this issue we equip the vehicle with multiple servo-mounted sonar sensors, to provide a means in which a subset of environment features can be precisely learned from the robot’s initial location and subsequently tracked to provide precise positioning.

This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal for implementations on tiny robots with limited resources. Closer inspection, however, shows that many of these Bug Algorithms assume perfect global position estimate of the robot which in GPS-denied environments implies considerable expenses of computation and memory – relying on accurate Simultaneous Localization And Mapping (SLAM) or Visual Odometry (VO) methods. We compare a selection of Bug Algorithms in a simulated robot and environment where they endure different types noise and failure-cases of their on-board sensors. From the simulation results, we conclude that the implemented Bug Algorithms’ performances are sensitive to many types of sensor-noise, which was most noticeable for odometry-drift. This raises the question if Bug Algorithms are suitable for real-world, on-board, robotic navigation as is. Variations that use multiple sensors to keep track of their progress towards the goal, were more adept in completing their task in the presence of sensor-failures. This shows that Bug Algorithms must spread their risk, by relying on the readings of multiple sensors, to be suitable for real-world deployment.


Question: Semi-automated mapping for swift implementation of AGV fleets in contemporary logistics operations.

This paper delves into the challenge of autonomously exploring and mapping environments with mobile robots, focusing on the efficient creation of occupancy grid maps through graph-based Simultaneous Localization and Mapping (SLAM). The central issue addressed is the robot's decision-making process between exploring new areas to complete the task and exploiting existing data to maintain accurate localization. Balancing these objectives is complex, particularly when aiming to minimize map uncertainty without compromising the robot's localization precision. To tackle this, we propose an innovative information-theoretic utility function that integrates both Shannon's and Rényi's entropy definitions. This unified approach enables the simultaneous consideration of uncertainties in both the robot's position and the map, eliminating the need for manual parameter tuning. Through comprehensive simulations and experimental evaluations, we compare our proposed utility function against established methods that solely rely on Shannon's entropy. Our results demonstrate that the proposed method leads to reduced uncertainties in both the robot's localization and the map, outperforming current state-of-the-art techniques. This advancement holds significant potential for enhancing the deployment of autonomous robots in various applications, including logistics and warehouse management, where accurate and efficient mapping is critical for the operation of Automated Guided Vehicle (AGV) fleets.

This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial network flow algorithms, as well as general linear program techniques, to multi-agent path planning problems on graphs. Exploiting this connecti on, we show that when the goals are permutation invariant, the problem always has a feasible solution path set with a longes t finish time of no more than n+V − 1 steps, in which n is the number of agents andV is the number of vertices of the underlying graph. We then give a complete algorithm that finds such a solution in O(nVE) time, with E being the number of edges of the graph. Taking a further step, we study time and distance optimality of the feasible solutions, show that th ey have a pairwise Pareto optimal structure, and again provide efficient algorithms for optimizing two of these practical objectives.

Based on the autonomous field robot BoniRob, which was developed for plant phenotyping, the authors have created an enhanced platform BoniRob (V2). The design of BoniRob (V2) considers two main improvements: At first the robustness for continuous outdoor use is increased and secondly the robot now makes available a reusable platform that can serve for multiple agricultural purposes. The combination of the platform BoniRob (V2) and application modules (“BoniRob-Apps”) is comparable to the classical combination of a tractor and an implement. In order to demonstrate this new concept, the authors have implemented three BoniRob-Apps, which can be integrated in BoniRob (V2) via defined mechanical, electrical and logical interfaces. The research project RemoteFarming.1 goes even beyond the accomplishment of a specific task by a robot and demonstrates the integration of the BoniRob (V2) platform into agricultural processes. For that purpose innovative agricultural engineering is combined with webbased communication technologies. The target is to develop a robotic mechanical weed control system which integrates a human user as remote worker in the process. The robotic weed control system is used for intra row weed treatment in carrots at BBCH-scales 10 to 20 in organic farming. This task is today conducted by hand. Introduction In recent years a variety of field robot prototypes have been proposed. They cover several applications, such as scouting and sampling, precise variable rate application of pesticides and fertilizers as well as autonomous weeding [1][2]. However, until now there is no commercial application of autonomous field operation in agriculture available. This is partly due to open issues regarding safety and legal requirements of autonomous operations [3].Another problem of the presented prototypes for autonomous field robots is their conception as single-purpose robots, despite there being several applications with market potential [6]. As the single-purpose concept leads typically would lead high costs due to a low workload over the year (specific tasks are required over only a short period of time), the systems are not economically feasible yet. To overcome this barrier a new concept for a multipurpose field robot is shown here. Multipurpose field robot platform BoniRob (V2) The BoniRob (V2) platform has been designed as an improved version of the BoniRob crop scout, which has been announced by the authors [5]. The BoniRob (V2) is shown in Fig 1. Fig.1: BoniRob (V2) during a RemoteFarming.1 field trial It was reengineered with focus on robustness and reusability. This manifests in increases of power supply by the electrical generator, continuous and peak torque at the wheel drives as well as chassis clearance (Table 1). Table 1: Technical figures of BoniRob (V2) BoniRob crop scout BoniRob (V2) platform Power of electric generator 2.0 kW 2.6 kW Battery’s capacity 110 Ah 170 Ah Continuous drive torque (per wheel) 55 Nm 70 Nm Peak drive torque (per wheel) 110 Nm 240 Nm As it can be seen in Fig.1, the height adjustment of the entire robot body was replaced by vertically fixed arms for each wheel, which can be rotated in the horizontal plane for adjustment of track width and centration of the robot body over the row to be treated. The hydraulic height adjustment was replaced by a manual, mechanical height-adjustment module frame. Furthermore, all other hydraulic drives were replaced by electrical systems. The BoniRob-App concept Using the multipurpose field robot platform BoniRob (V2) as a carrier, supplier and base for multiple BoniRob-Apps can be compared to the traditional combination of a single tractor with multiple implements. BoniRob-Apps can be integrated into the platform using defined mechanical, electrical and logical interfaces. The module frame of 0.77 m x 0.75 m in the centre of the robot allows mechanically attaching the BoniRob-App (Fig. 2). The mounting height can be adjusted in a range of 0.4 m. The electrical connection is set up using a custom plug. This provides energy supply to the BoniRob-App and different voltage levels (230V AC, 24 V DC, 12 V DC, 5 V DC). Moreover, it allows linking the emergency stop infrastructure of platform and App, such that even the App can stop the entire robot in case of emergency. Also, the custom plug sets up a Gigabit-Ethernet connection to the host-computer on BoniRob (V2). The entire communication infrastructure on BoniRob (V2) and between platform and the Apps is designed using Ethernet and ROS [4]. A sequence controller with 2 levels opens the way for distributed drive control of the robot. In the row the App (level 2 sequence controller) can access the drive control. On the headland the platform (level 1 sequence controller) holds the access to the drive control and runs the turn procedure of the robot. This Fig. 2: Multiple BoniRob-Apps can be used in the same platform allows switching the access to the drive depending on the state including letting the App control the drive train of the robot in properly defined situations. Again, this can be compared to a tractor-implement combination. In recent years in the field of Tractor Implement Management advances have been made towards control of the tractor by the implement in specific situations, because the implement and its sensors are closer to the process and more specifically adapted to it. This also shows that BoniRob-Apps are more than just tools to be used with the BoniRob (V2) platform but smart combinations of mechanical and electrical systems together with processand application-specific intelligence. BoniRob-Apps: Demonstrating examples In order to demonstrate the new concept, the authors implemented three BoniRob-Apps:

We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of relocation problem must be satisfied. We introduce a general problem formulation that encompasses known types of item relocation problems such as multi-agent path finding (MAPF) and token swapping (TSWAP). In this formulation we express two new types of relocation problems derived from token swapping that we call token rotation (TROT) and token permutation (TPERM). Our solving approach for item relocation combines satisfiability modulo theory (SMT) with conflict-based search (CBS). We interpret CBS in the SMT framework where we start with the basic model and refine the model with a collision resolution constraint whenever a collision between items occurs in the current solution. The key difference between the standard CBS and our SMT-based modification of CBS (SMT-CBS) is that the standard CBS branches the search to resolve the collision while in SMT-CBS we iteratively add a single disjunctive collision resolution constraint. Experimental evaluation on several benchmarks shows that the SMT-CBS algorithm significantly outperforms the standard CBS. We also compared SMT-CBS with a modification of the SAT-based MDD-SAT solver that uses an eager modeling of item relocation in which all potential collisions are eliminated by constrains in advance. Experiments show that lazy approach in SMT-CBS produce fewer constraint than MDD-SAT and also achieves faster solving run-times.

Ant colony optimization and artificial potential field were used respectively as global path planning and local path planning methods in this paper. Some modifications were made to accommodate ant colony optimization to path planning. Pheromone generated by ant colony optimization was also utilized to prevent artificial potential field from getting local minimum. Simulation results showed that the hybrid algorithm could satisfy the real-time demand. The comparison between ant colony optimization and genetic algorithm was also made in this paper.

This paper presents the autonomous battery exchange operation for small scale UAVs, using a mobile ground base that carries a robotic arm and a service station containing the battery exchange mechanism. The goal of this work is to demonstrate the means to increase the autonomy and persistence of robotic systems without requiring human intervention. The design and control of the system and its components are presented in detail, as well as the collaborative software framework used to plan and execute complex missions. Finally, the results of autonomous outdoor experiments are presented, in which the ground rover successfully localizes, retrieves, services, and deploys the landed UAV, proving its capacity to extend and enhance autonomous operations.

Many Advanced Driver Assistance Systems (ADAS) have been developed to improve car safety. However, it is still a challenging problem to make autonomous vehicles to drive safely on urban streets such as uncontrolled intersections (without traffic lights) and narrow roads. In this paper, we introduce a decision making system that can assist autonomous vehicles at uncontrolled intersections and narrow roads. We constructed a machine understandable ontology-based Knowledge Base, which contains maps and traffic regulations. The system makes decisions in comply with traffic regulations such as Right-Of-Way rules when it receives a collision warning signal. The decisions are sent to a path planning system to change the route or stop to avoid collisions.

This paper describes an approach to overcome a situation of monitoring and managing a parking area using a vision based automated parking system. With the rapid increase of cars the need to find available parking space in the most efficient manner, to avoid traffic congestion in a parking area, is becoming a necessity in car park management. Current car park management is dependent on either human personnel keeping track of the available car park spaces or a sensor based system that monitors the availability of each car park space or the overall number of available car park spaces. In both situations, the information available was only the total number of car park spaces available and not the actual location available. In addition, the installation and maintenance cost of a sensor based system is dependent on the number of sensors used in a car park. This paper shows a vision based system that is able to detect and indicate the available parking spaces in a car park. The methods utilized to detect available car park spaces were based on coordinates to indicate the regions of interest and a car classifier. This paper shows that the initial work done here has an accuracy that ranges from 90% to 100% for a 4 space car park. The work done indicated that the application of a vision based car park management system would be able to detect and indicate the available car park spaces

In this paper, a practical real-time path planning and robot navigation algorithm for a non-holonomic indoor mobile robot based on visual servoing is implemented. The proposed algorithm is divided into three parts; the first part uses Multi-Stencils Fast Marching (MSFM) as a path planning method. But the generated path results from fast marching methods when used directly, not guaranteed to be safe and smooth. Subsequently, the robot can touch corners, walls and obstacles. The proposed algorithm uses image processing methods to solve this problem. The second part estimates the position and orientation of the robot, from the visual information, to follow the desired path with avoiding obstacles. The third part proposes a decentralized PD-like Fuzzy Logic Controller (FLC) to keep up the robot on the desired path. Experimental results show that the developed design is valid to estimate shortest-path by avoiding obstacles and able to guide the robot to follow the path in real-time.

This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus. DOI: 10.1115/1.2766721

This research strives to implement the agricultural farming robot which can move instinctively, involuntarily for ploughing in different depths depending upon soil, seeding and irrigation in adjacent field. This research also contributes to enhance functionality of agribot in the field for surveillance. The agribot is equipped with a camera and sends the data to pc through Wi-Fi network. The robot has servo motors for ploughing, distributing the seeds and irrigation into the field. It works with ultrasonic sensor and IR sensor. Ultrasonic sensor is for avoiding the obstacles in the field, IR sensor is for sensing the path and field of adjacent boundary. Arduino Uno controller acts as heart and brain of the system, it makes fast, accurate, autonomous movement. This Research features a agribot that uses Wi-Fi 802.11G along with TCP/IP protocol. IP address and Video is received in laptop for further processing. This research intends to reduce human efforts, increase profit and provide an intelligent aid to the farmers.


Question: A method for evaluating and ranking optimization techniques based on multiple criteria.

This paper introduces an advanced technique, termed Input Warping, designed to enhance Bayesian Optimization for the optimization of non-stationary functions. Bayesian Optimization has established itself as a highly potent approach for the global optimization of functions that are unknown, expensive to evaluate, and possess multiple optima. A key factor in its efficacy is the precise modeling of distributions over functions. Despite the adaptability offered by Gaussian processes, certain classes of functions, notably non-stationary ones, present significant challenges. A common issue encountered in the domain of machine learning hyperparameter optimization is the manual preprocessing of parameters to address the varying length scale across the input space, such as optimizing in "log-space". To automate this process, we devise a methodology that learns a comprehensive family of bijective transformations, or warpings, of the input space by leveraging the Beta cumulative distribution function. This framework is further augmented to accommodate multi-task Bayesian Optimization, allowing multiple tasks to be transformed into a shared, stationary space. Through a series of complex benchmark optimization tasks, we find that incorporating warping significantly outperforms the current state-of-the-art, delivering superior outcomes at a faster pace and with greater consistency.

A designer often has to evaluate alternative designs during the development of a system. A multitude of Design-Space Exploration (DSE) techniques exist in the literature. Integration of these techniques into the modelling paradigm is needed when a model-driven engineering approach is used for designing systems. To a greater or lesser extent, the integration of those different DSE techniques share characteristics with each other. Inspired by software design patterns, we introduce an initial pattern catalogue to categorise the embedding of different DSE techniques in an MDE context. We demonstrate their use by a literature survey and discuss the consequences of each pattern.

In recent years, hesitant fuzzy linguistic term sets (HFLTSs) have been studied by many scholars and are becoming gradually mature. However, some shortcomings of HFLTS also emerged. To describe the complex linguistic terms or linguistic term sets more accurately and reasonably, in this paper, we introduce the novel concepts named double hierarchy linguistic term set (DHLTS) and double hierarchy hesitant fuzzy linguistic term set (DHHFLTS). The operational laws and properties of the DHHFLTSs are developed as well. Afterwards, we investigate the multiple criteria decision making model with double hierarchy hesitant fuzzy linguistic information. We develop a double hierarchy hesitant fuzzy linguistic MULTIMOORA (DHHFL-MULTIMOORA) method to solve it. Furthermore, we apply the DHHFL-MULTIMOORA method to deal with a practical case about selecting the optimal city in China by evaluating the implementation status of haze controlling measures. Some comparisons between the DHHFL-MULTIMOORA method and the hesitant fuzzy linguistic TOPSIS method are provided to show the advantages of the proposed method. © 2017 Elsevier B.V. All rights reserved. l p v t t s c e P t t g

In recent years, various heuristic optimization methods have been developed. Many of these methods are inspired by swarm behaviors in nature. In this paper, a new optimization algorithm based on the law of gravity and mass interactions is introduced. In the proposed algorithm, the searcher agents are a collection of masses which interact with each other based on the Newtonian gravity and the laws of motion. The proposed method has been compared with some well-known heuristic search methods. The obtained results confirm the high performance of the proposed method in solving various nonlinear functions. 2009 Elsevier Inc. All rights reserved.

Feature selection is an important pre-processing step for solving classification problems. A good feature selection method may not only improve the performance of the final classifier, but also reduce the computational complexity of it. Traditionally, feature selection methods were developed to maximize the classification accuracy of a classifier. Recently, both theoretical and experimental studies revealed that a classifier with the highest accuracy might not be ideal in real-world problems. Instead, the Area Under the ROC Curve (AUC) has been suggested as the alternative metric, and many existing learning algorithms have been modified in order to seek the classifier with maximum AUC. However, little work was done to develop new feature selection methods to suit the requirement of AUC maximization. To fill this gap in the literature, we propose in this paper a novel algorithm, called AUC and Rank Correlation coefficient Optimization (ARCO) algorithm. ARCO adopts the general framework of a well-known method, namely minimal redundancy- maximal-relevance (mRMR) criterion, but defines the terms ”relevance” and ”redundancy” in totally different ways. Such a modification looks trivial from the perspective of algorithmic design. Nevertheless, experimental study on four gene expression data sets showed that feature subsets obtained by ARCO resulted in classifiers with significantly larger AUC than the feature subsets obtained by mRMR. Moreover, ARCO also outperformed the Feature Assessment by Sliding Thresholds algorithm, which was recently proposed for AUC maximization, and thus the efficacy of ARCO was validated.

ÐEfficient application scheduling is critical for achieving high performance in heterogeneous computing environments. The application scheduling problem has been shown to be NP-complete in general cases as well as in several restricted cases. Because of its key importance, this problem has been extensively studied and various algorithms have been proposed in the literature which are mainly for systems with homogeneous processors. Although there are a few algorithms in the literature for heterogeneous processors, they usually require significantly high scheduling costs and they may not deliver good quality schedules with lower costs. In this paper, we present two novel scheduling algorithms for a bounded number of heterogeneous processors with an objective to simultaneously meet high performance and fast scheduling time, which are called the Heterogeneous Earliest-Finish-Time (HEFT) algorithm and the Critical-Path-on-a-Processor (CPOP) algorithm. The HEFT algorithm selects the task with the highest upward rank value at each step and assigns the selected task to the processor, which minimizes its earliest finish time with an insertion-based approach. On the other hand, the CPOP algorithm uses the summation of upward and downward rank values for prioritizing tasks. Another difference is in the processor selection phase, which schedules the critical tasks onto the processor that minimizes the total execution time of the critical tasks. In order to provide a robust and unbiased comparison with the related work, a parametric graph generator was designed to generate weighted directed acyclic graphs with various characteristics. The comparison study, based on both randomly generated graphs and the graphs of some real applications, shows that our scheduling algorithms significantly surpass previous approaches in terms of both quality and cost of schedules, which are mainly presented with schedule length ratio, speedup, frequency of best results, and average scheduling time metrics.

Extracting summaries via integer linear programming and submodularity are popular and successful techniques in extractive multi-document summarization. However, many interesting optimization objectives are neither submodular nor factorizable into an integer linear program. We address this issue and present a general optimization framework where any function of input documents and a system summary can be plugged in. Our framework includes two kinds of summarizers – one based on genetic algorithms, the other using a swarm intelligence approach. In our experimental evaluation, we investigate the optimization of two information-theoretic summary evaluation metrics and find that our framework yields competitive results compared to several strong summarization baselines. Our comparative analysis of the genetic and swarm summarizers reveals interesting complementary properties.

Security issues are becoming more and more important to acti vities of individuals, organizations and the society in our modern ne tworked computerized world. In this chapter we survey a few optimization framewor ks for problems related to security of various networked system such as the int erne or the power grid system.

This paper considers the optimal adaptive allocation of measurement effort for identifying the best among a finite set of options or designs. An experimenter sequentially chooses designs to measure and observes noisy signals of their quality with the goal of confidently identifying the best design after a small number of measurements. I propose three simple Bayesian algorithms for adaptively allocating measurement effort. One is Top-Two Probability sampling, which computes the two designs with the highest posterior probability of being optimal, and then randomizes to select among these two. One is a variant a top-two sampling which considers not only the probability a design is optimal, but the expected amount by which its quality exceeds that of other designs. The final algorithm is a modified version of Thompson sampling that is tailored for identifying the best design. I prove that these simple algorithms satisfy a strong optimality property. In a frequestist setting where the true quality of the designs is fixed, one hopes the posterior definitively identifies the optimal design, in the sense that that the posterior probability assigned to the event that some other design is optimal converges to zero as measurements are collected. I show that under the proposed algorithms this convergence occurs at an exponential rate, and the corresponding exponent is the best possible among all allocation rules.

Harmony search (HS) algorithm was applied to solving Sudoku puzzle. The HS is an evolutionary algorithm which mimics musicians’ behaviors such as random play, memory-based play, and pitch-adjusted play when they perform improvisation. Sudoku puzzles in this study were formulated as an optimization problem with number-uniqueness penalties. HS could successfully solve the optimization problem after 285 function evaluations, taking 9 seconds. Also, sensitivity analysis of HS parameters was performed to obtain a better idea of algorithm parameter values.

The evaluation of machine translation (MT) systems is a vital field of research, both for determining the effectiveness of existing MT systems and for optimizing the performance of MT systems. This part describes a range of different evaluation approaches used in the GALE community and introduces evaluation protocols and methodologies used in the program. We discuss the development and use of automatic, human, task-based and semi-automatic (human-in-the-loop) methods of evaluating machine translation, focusing on the use of a human-mediated translation error rate HTER as the evaluation standard used in GALE. We discuss the workflow associated with the use of this measure, including post editing, quality control, and scoring. We document the evaluation tasks, data, protocols, and results of recent GALE MT Evaluations. In addition, we present a range of different approaches for optimizing MT systems on the basis of different measures. We outline the requirements and specific problems when using different optimization approaches and describe how the characteristics of different MT metrics affect the optimization. Finally, we describe novel recent and ongoing work on the development of fully automatic MT evaluation metrics that can have the potential to substantially improve the effectiveness of evaluation and optimization of MT systems. Progress in the field of machine translation relies on assessing the quality of a new system through systematic evaluation, such that the new system can be shown to perform better than pre-existing systems. The difficulty arises in the definition of a better system. When assessing the quality of a translation, there is no single correct answer; rather, there may be any number of possible correct translations. In addition, when two translations are only partially correct but in different ways it is difficult to distinguish quality. Moreover, quality assessments may be dependent on the intended use for the translation, e.g., the tone of a translation may be crucial in some applications, but irrelevant in other applications. Traditionally, there are two paradigms of machine translation evaluation: (1) Glass Box evaluation, which measures the quality of a system based upon internal system properties, and (2) Black Box evaluation, which measures the quality of a system based solely upon its output, without respect to the internal mechanisms of the translation system. Glass Box evaluation focuses upon an examination of the system's linguistic


Question: A method for evaluating optimization techniques based on multiple criteria.

This paper explores an automated strategy for optimizing the performance of machine learning algorithms, addressing the common challenge of tuning learning parameters and model hyperparameters, which often requires expert knowledge or extensive search. The study adopts a Bayesian optimization framework, modeling the generalization performance of a learning algorithm as a sample from a Gaussian process (GP). It highlights the significance of specific GP configurations, such as the choice of kernel and the handling of its hyperparameters, in achieving high-performance optimization that can match or surpass expert-level results. The paper introduces novel algorithms that consider the variable cost of learning algorithm experiments and the potential for leveraging multiple cores for parallel experimentation. These algorithms are demonstrated to outperform previous automated optimization methods and can equal or even exceed human expert optimization for a variety of algorithms, including latent Dirichlet allocation, structured SVMs, and convolutional neural networks.

**Question**: An Evolutionary Algorithm for Solving Nonlinear Optimization Problems with Hybrid Constraints

**Documents**: A Hybrid Evolutionary Algorithm for the Solution of Nonlinear Optimization Problems
This paper presents a hybrid evolutionary algorithm for solving nonlinear optimization problems with a mix of equality and inequality constraints. The proposed algorithm integrates the strengths of evolutionary algorithms (EAs) and gradient-based methods. EAs are known for their ability to explore the search space globally and find good solutions in complex landscapes, while gradient-based methods excel in refining solutions and converging quickly to local optima. The hybrid approach combines these features, enabling the algorithm to efficiently navigate the constrained search space and refine promising solutions. The algorithm is tested on a set of benchmark problems with varying levels of nonlinearity and constraints, demonstrating its effectiveness in finding high-quality solutions. The results are compared with those obtained from pure EA and gradient-based methods, showing the superiority of the hybrid algorithm in terms of solution quality and convergence speed.

**Similar Documents**: This paper introduces a novel hybrid evolutionary algorithm designed to tackle nonlinear optimization problems featuring a combination of equality and inequality constraints. By merging the exploration capabilities of evolutionary algorithms (EAs) with the exploitation efficiency of gradient-based methods, the algorithm offers a balanced approach to solving complex optimization tasks. EAs, renowned for their global search capabilities, are complemented by gradient-based methods that excel in refining solutions and achieving rapid convergence to local optima. This hybrid strategy enables the algorithm to efficiently explore the constrained search space, identifying and refining promising solutions. The effectiveness of the algorithm is evaluated through a series of benchmark problems with varying degrees of nonlinearity and constraint complexity. Comparative analysis against pure EA and gradient-based methods reveals the hybrid algorithm's

0 7 4 0 7 4 5 9 / 0 3 / $ 1 9 . 0 0 © 2 0 0 3 I E E E All the methodologies that have been proposed recently for choosing software packages compare user requirements with the packages’ capabilities.3–5 There are different types of requirements, such as managerial, political, and, of course, quality requirements. Quality requirements are often difficult to check. This is partly due to their nature, but there is another reason that can be mitigated, namely the lack of structured and widespread descriptions of package domains (that is, categories of software packages such as ERP systems, graphical or data structure libraries, and so on). This absence hampers the accurate description of software packages and the precise statement of quality requirements, and consequently overall package selection and confidence in the result of the process. Our methodology for building structured quality models helps solve this drawback. (See the “Related Work” sidebar for information about other approaches.) A structured quality model for a given package domain provides a taxonomy of software quality features, and metrics for computing their value. Our approach relies on the International Organization for Standardization and International Electrotechnical Commission 9126-1 quality standard,6 which we selected for the following reasons:

There are many variations of local search: Hill-climbing: The name for the basic method described above. Metropolis: Pick a random y ∈ N(x). If f(y) < f(x), set x = y. If f(y) > f(x), set x = y with some probability. Simulated annealing: Like Metropolis, but where the probability of moving to a higher-cost neighbor decreases over time. Tabu search: Like the previous two, but with memory in order to avoid getting stuck in suboptimal regions or in plateaus (“taboo” areas). Parallel search: Do more than one search, and occasionally replace versions that are doing poorly with copies of versions that are doing well. Genetic algorithm: Keep a population of searches that changes over time via “breeding” of the best-performing searches.

The main goal of the structural optimization is to minimize the weight of structures while satisfying all design requirements imposed by design codes. In this paper, the Artificial Bee Colony algorithm with an adaptive penalty function approach (ABC-AP) is proposed to minimize the weight of truss structures. The ABC algorithm is swarm intelligence based optimization technique inspired by the intelligent foraging behavior of honeybees. Five truss examples with fixed-geometry and up to 200 elements were studied to verify that the ABC algorithm is an effective optimization algorithm in the creation of an optimal design for truss structures. The results of the ABC-AP compared with results of other optimization algorithms from the literature show that this algorithm is a powerful search and optimization technique for structural design. © 2010 Elsevier B.V. All rights reserved.

Evaluation methods for information retrieval systems come in three types: offline evaluation, using static data sets annotated for relevance by human judges; user studies, usually conducted in a lab-based setting; and online evaluation, using implicit signals such as clicks from actual users. For the latter, preferences between rankers are typically inferred from implicit signals via interleaved comparison methods, which combine a pair of rankings and display the result to the user. We propose a new approach to online evaluation called multileaved comparisons that is useful in the prevalent case where designers are interested in the relative performance of more than two rankers. Rather than combining only a pair of rankings, multileaved comparisons combine an arbitrary number of rankings. The resulting user clicks then give feedback about how all these rankings compare to each other. We propose two specific multileaved comparison methods. The first, called team draft multileave, is an extension of team draft interleave. The second, called optimized multileave, is an extension of optimized interleave and is designed to handle cases where a large number of rankers must be multileaved. We present experimental results that demonstrate that both team draft multileave and optimized multileave can accurately determine all pairwise preferences among a set of rankers using far less data than the interleaving methods that they extend.

This paper articulates a framework and criteria that can be used to evaluate the quality of theories. While the framework and criteria have general applicability, my focus is the evaluation of theories within the information systems discipline. To illustrate the usefulness of the framework and criteria, I show how they can be employed to pinpoint the strengths and weaknesses of a theory which, based upon citation evidence, has had a significant impact on other researchers within the information systems discipline. Because the evaluation of existing theories often provides the basis for refining existing theories or building new theories, I also show how the framework and criteria can be used to inform the development of high-quality theory.

The multiobjective evolutionary algorithm based on decomposition (MOEA/D) has been shown to be very efficient in solving multiobjective optimization problems (MOPs). In practice, the Pareto-optimal front (POF) of many MOPs has complex characteristics. For example, the POF may have a long tail and sharp peak and disconnected regions, which significantly degrades the performance of MOEA/D. This paper proposes an improved MOEA/D for handling such kind of complex problems. In the proposed algorithm, a two-phase strategy (TP) is employed to divide the whole optimization procedure into two phases. Based on the crowdedness of solutions found in the first phase, the algorithm decides whether or not to delicate computational resources to handle unsolved subproblems in the second phase. Besides, a new niche scheme is introduced into the improved MOEA/D to guide the selection of mating parents to avoid producing duplicate solutions, which is very helpful for maintaining the population diversity when the POF of the MOP being optimized is discontinuous. The performance of the proposed algorithm is investigated on some existing benchmark and newly designed MOPs with complex POF shapes in comparison with several MOEA/D variants and other approaches. The experimental results show that the proposed algorithm produces promising performance on these complex problems.

In this paper, the effect of Genetic algorithm (GA) on the enhancement of the texture and quality of plants visual L. Davis, The handbook of Genetic Algorithms. Genetic Algorithm is one of many methods that can be used to create a schedule. This method Davis, L.: Handbook on Genetic Algorithms. Van Nostrand. In this research, genetic algorithm approach has been applied for solving exam (18) Davis L., Handbook of Genetic Algorithms, New York, Van Nostrand.

Harmony search (HS) algorithm was applied to solving Sudoku puzzle. The HS is an evolutionary algorithm which mimics musicians’ behaviors such as random play, memory-based play, and pitch-adjusted play when they perform improvisation. Sudoku puzzles in this study were formulated as an optimization problem with number-uniqueness penalties. HS could successfully solve the optimization problem after 285 function evaluations, taking 9 seconds. Also, sensitivity analysis of HS parameters was performed to obtain a better idea of algorithm parameter values.

We propose a crossover-based adaptive local search (LS) operation for enhancing the performance of standard differential evolution (DE) algorithm. Incorporating LS heuristics is often very useful in designing an effective evolutionary algorithm for global optimization. However, determining a single LS length that can serve for a wide range of problems is a critical issue. We present a LS technique to solve this problem by adaptively adjusting the length of the search, using a hill-climbing heuristic. The emphasis of this paper is to demonstrate how this LS scheme can improve the performance of DE. Experimenting with a wide range of benchmark functions, we show that the proposed new version of DE, with the adaptive LS, performs better, or at least comparably, to classic DE algorithm. Performance comparisons with other LS heuristics and with some other well-known evolutionary algorithms from literature are also presented.

This book brings together-in an informal and tutorial fashion-the computer techniques, mathematical tools, and research results that will enable both students and practitioners to apply genetic algorithms to problems...