Collaboration in Multi-Robot Exploration: To Meet or not to Meet?

Work on coordinated multi-robot exploration often assumes that all areas to be explored are freely accessible. This common assumption does not always hold, especially not in search and rescue missions after a disaster. Doors may be closed or paths blocked detaining robots from continuing their exploration beyond these points and possibly requiring multiple robots to clear them. This paper addresses the issue how to coordinate a multi-robot system to clear blocked paths. We define local collaborations that require robots to collaboratively perform a physical action at a common position. A collaborating robot needs to interrupt its current exploration and move to a different location to collaboratively clear a blocked path. We raise the question when to collaborate and whom to collaborate with. We propose four strategies as to when to collaborate. Two obvious strategies are to collaborate immediately or to postpone any collaborations until only blocked paths are left. The other two strategies make use of heuristics based on building patterns. While no single strategy behaves optimal in all scenarios, we show that the heuristics decrease the time required to explore unknown environments considering blocked paths.     

Cost-Based Target Selection Techniques Towards Full Space Exploration and Coverage for USAR Applications in a Priori Unknown Environments

Full coverage and exploration of an environment is essential in robot rescue operations where victim identification is required. Three methods of target selection towards full exploration and coverage of an unknown space oriented for Urban Search and Rescue (USAR) applications have been developed. These are the Selection of the closest topological node, the Selection of the minimum cost topological node and the Selection of the minimum cost sub-graph. All methods employ a topological graph extracted from the Generalized Voronoi Diagram (GVD), in order to select the next best target during exploration. The first method utilizes a distance metric for determining the next best target whereas the Selection of the minimum cost topological node method assigns four different weights on the graph’s nodes, based on certain environmental attributes. The Selection of the minimum cost sub-graph uses a similar technique, but instead of single nodes, sets of graph nodes are examined. In addition, a modification of A* algorithm for biased path creation towards uncovered areas, aiming at a faster spatial coverage, is introduced. The proposed methods’ performance is verified by experiments conducted in two heterogeneous simulated environments. Finally, the results are compared with two common exploration methods.     

Finding Coefficients of the Full Array of Motion-Independent <Emphasis Type="Italic">N</Emphasis>-Body Potentials of Metric Gravity from Gravity’s Exterior and Interior Effacement Algebra

In the author’s previous publications, a recursive linear algebraic method was introduced for obtaining (without gravitational radiation) the full potential expansions for the gravitational metric field components and the Lagrangian for a general N-body system. Two apparent properties of gravity— Exterior Effacement and Interior Effacement—were defined and fully enforced to obtain the recursive algebra, especially for the motion-independent potential expansions of the general N-body situation. The linear algebraic equations of this method determine the potential coefficients at any order n of the expansions in terms of the lower-order coefficients. Then, enforcing Exterior and Interior Effacement on a selecedt few potential series of the full motion-independent potential expansions, the complete exterior metric field for a single, spherically-symmetric mass source was obtained, producing the Schwarzschild metric field of general relativity. In this fourth paper of this series, the complete spatial metric’s motion-independent potentials for N bodies are obtained using enforcement of Interior Effacement and knowledge of the Schwarzschild potentials. From the full spatial metric, the complete set of temporal metric potentials and Lagrangian potentials in the motion-independent case can then be found by transfer equations among the coefficients κ(n, α) → λ(n, ε) → ξ(n, α) with κ(n, α), λ(n, ε), ξ(n, α) being the numerical coefficients in the spatial metric, the Lagrangian, and the temporal metric potential expansions, respectively.     

Making Doubling Metrics Geodesic

The starting point of our research is the following problem: given a doubling metric ?=(V,d), can one (efficiently) find an unweighted graph G′=(V′,E′) with V?V′ whose shortest-path metric d′ is still doubling, and which agrees with d on V×V? While it is simple to show that the answer to the above question is negative if distances must be preserved exactly. However, allowing a (1+ε) distortion between d and d′ enables us bypass this hurdle, and obtain an unweighted graph G′ with doubling dimension at most a factor O(log?ε ^?1) times the doubling dimension of G.More generally, this paper gives algorithms that construct graphs G′ whose convex (or geodesic) closure has doubling dimension close to that of ?, and the shortest-path distances in G′ closely approximate those of ? when restricted to V×V. Similar results are shown when the metric ? is an additive (tree) metric and the graph G′ is restricted to be a tree.     

On fractional faces of the metric polytope

The integrality recognition problem is considered on a sequence M _{n, k} of nested relaxations of a Boolean quadric polytope, including the rooted semimetric M _n and metric M _{n, 3} polytopes. The constraints of the metric polytope cut off all faces of the rooted semimetric polytope that contain only fractional vertices. This makes it possible to solve the integrality recognition problem on M _n in polynomial time. To solve the integrality recognition problem on the metric polytope, we consider the possibility of cutting off all fractional faces of M _{n, 3} by a certain relaxation M _{n, k} . The coordinates of points of the metric polytope are represented in homogeneous form as a three-dimensional block matrix. We show that in studying the question of cutting off the fractional faces of the metric polytope, it is sufficient to consider only constraints in the form of triangle inequalities.     

High order stable infinite impulse response filter design using cuckoo search algorithm

In this paper, an efficient technique for optimal design of digital infinite impulse response (IIR) filter with minimum passband error (e _p ), minimum stopband error (e _s ), high stopband attenuation (A _s ), and also free from limit cycle effect is proposed using cuckoo search (CS) algorithm. In the proposed method, error function, which is multi-model and non-differentiable in the heuristic surface, is constructed as the mean squared difference between the designed and desired response in frequency domain, and is optimized using CS algorithm. Computational efficiency of the proposed technique for exploration in search space is examined, and during exploration, stability of filter is maintained by considering lattice representation of the denominator polynomials, which requires less computational complexity as well as it improves the exploration ability in search space for designing higher filter taps. A comparative study of the proposed method with other algorithms is made, and the obtained results show that 90% reduction in errors is achieved using the proposed method. However, computational complexity in term of CPU time is increased as compared to other existing algorithms.     

Aggregate location recommendation in dynamic transportation networks

Travel planning and location recommendation are increasingly important in recent years. In this light, we propose and study a novel aggregate location recommendation query (ALRQ) of discovering aggregate locations for multiple travelers and planning the corresponding travel routes in dynamic transportation networks. Assuming the scenario that multiple travelers target the same destination, given a set of travelers’ locations Q, a set of potential aggregate location O, and a departure time t, the ALRQ finds an aggregate location o ∈ O that has the minimum global travel time \({\sum }_{q \in Q} T(q,o,t)\), where T(q,o,t) is the travel time between o and q with departure time t. The ALRQ problem is challenging due to three reasons: (1) how to model the dynamic transportation networks practically, and (2) how to compute ALRQ efficiently. We take two types of dynamic transportation networks into account, and we define a pair of upper and lower bounds to prune the search space effectively. Moreover, a heuristic scheduling strategy is adopted to schedule multiple query sources. Finally, we conducted extensive experiments on real and synthetic spatial data to verify the performance of the developed algorithms.     

On the Advice Complexity of the k-server Problem Under Sparse Metrics

We consider the k-Server problem under the advice model of computation when the underlying metric space is sparse. On one side, we introduce Θ(1)-competitive algorithms for a wide range of sparse graphs. These algorithms require advice of (almost) linear size. We show that for graphs of size N and treewidth α, there is an online algorithm that receives O (n(log α + log log N))^* bits of advice and optimally serves any sequence of length n. We also prove that if a graph admits a system of μ collective tree (q, r)-spanners, then there is a (q + r)-competitive algorithm which requires O (n(log μ + log log N)) bits of advice. Among other results, this gives a 3-competitive algorithm for planar graphs, when provided with O (n log log N) bits of advice. On the other side, we prove that advice of size Ω(n) is required to obtain a 1-competitive algorithm for sequences of length n even for the 2-server problem on a path metric of size N ≥ 3. Through another lower bound argument, we show that at least \(\frac {n}{2}(\log \alpha - 1.22)\) bits of advice is required to obtain an optimal solution for metric spaces of treewidth α, where 4 ≤ α < 2k.     

Finding the Schwarzschild metric from gravity’s Exterior and Interior Effacement algebra

In the author’s previous publications, a recursive linear algebraicmethod was introduced for obtaining (sans gravitational radiation) the full potential expansions for the gravitational metric field components and the Lagrangian for the general N-body system. Two apparent properties of gravity—Exterior Effacement and Interior Effacement—were defined and enforced to obtain the recursive algebra, especially for the motion-independent potential expansions of the general N-body situation. The linear algebraic equations of this method permit determination of the potential coefficients at any order n ^? of the expansions in terms of the lower order coefficients. To illustrate the capabilities of this algebraic method by enforcing exterior and interior effacement, and focusing on only a needed few potential series of the full motion-independent potential expansions, the complete exterior metric field for a single, spherically symmetric mass source is here obtained—the Schwarzschild metric field of general relativity (the Eddington PPN parameter γ = 1) as well as its generalization if the isotropic spatial metric potential’s linearized form is ?g _SS (γ, r) = 1 + 2γ Gm/c ² r +.... with γ ≠ 1 are obtained.     

Reducing the Range of Perception in Multi-agent Patrolling Strategies

Multi-Agent Patrolling Problems consist in moving agents throughout a graph in order to optimize a collective performance metric. Some strategies from the literature tackle this problem by dispatching decentralized autonomous agents that coordinate themselves merely by sensing and writing information in the nodes. In this work, they are called k-range local strategies, were k indicates the range, in number of edges, of the agents’ sensing capabilities. The 1-range strategies (where agents can sense up to its neighbor nodes) are certainly the most common case in the literature. And only few 0-range strategies (where agents can only sense its current node) were found, although this type of strategy has the advantage of requiring simpler hardware, when applied in the design of real robots. In this work, we propose two higher-level procedures to reduce the perception range of 1-range strategies to 0: the Zr Method and the EZr Method. Applying both methods in 1-range strategies found in the literature, we created twenty new 0-range strategies, which were evaluated in a simulation experiment described and analyzed here. We also developed a prototype of a low-cost patrolling robot that is able to run the 0-range strategies proposed in this work.     

Guided search for hybrid systems based on coarse-grained space abstractions

Hybrid systems represent an important and powerful formalism for modeling real-world applications such as embedded systems. A verification tool like SpaceEx is based on the exploration of a symbolic search space (the region space). As a verification tool, it is typically optimized towards proving the absence of errors. In some settings, e.g., when the verification tool is employed in a feedback-directed design cycle, one would like to have the option to call a version that is optimized towards finding an error trajectory in the region space. A recent approach in this direction is based on guided search. Guided search relies on a cost function that indicates which states are promising to be explored, and preferably explores more promising states first. In this paper, we propose an abstraction-based cost function based on coarse-grained space abstractions for guiding the reachability analysis. For this purpose, a suitable abstraction technique that exploits the flexible granularity of modern reachability analysis algorithms is introduced. The new cost function is an effective extension of pattern database approaches that have been successfully applied in other areas. The approach has been implemented in the SpaceEx model checker. The evaluation shows its practical potential.     

<Emphasis Type="Italic">k</Emphasis>-most suitable locations selection

Choosing the best location for starting a business or expanding an existing enterprize is an important issue. A number of location selection problems have been discussed in the literature. They often apply the Reverse Nearest Neighbor as the criterion for finding suitable locations. In this paper, we apply the Average Distance as the criterion and propose the so-called k-most suitable locations (k-MSL) selection problem. Given a positive integer k and three datasets: a set of customers, a set of existing facilities, and a set of potential locations. The k-MSL selection problem outputs k locations from the potential location set, such that the average distance between a customer and his nearest facility is minimized. In this paper, we formally define the k-MSL selection problem and show that it is NP-hard. We first propose a greedy algorithm which can quickly find an approximate result for users. Two exact algorithms are then proposed to find the optimal result. Several pruning rules are applied to increase computational efficiency. We evaluate the algorithms’ performance using both synthetic and real datasets. The results show that our algorithms are able to deal with the k-MSL selection problem efficiently.     

On the optimal choice of quality metric in image compression: a soft computing approach

Images take lot of computer space; in many practical situations, we cannot store all original images, we have to use compression. Moreover, in many such situations, compression ratio provided by even the best lossless compression is not sufficient, so we have to use lossy compression. In a lossy compression, the reconstructed image ? is, in general, different from the original image I. There exist many different lossy compression methods, and most of these methods have several tunable parameters. In different situations, different methods lead to different quality reconstruction, so it is important to select, in each situation, the best compression method. A natural idea is to select the compression method for which the average value of some metric d(I,?) is the smallest possible. The question is then: which quality metric should we choose? In this paper, we show that under certain reasonable symmetry conditions, L ^p metrics d(I,?)=∫|I(x)??(x)| ^p dx are the best, and that the optimal value of p can be selected depending on the expected relative size r of the informative part of the image.     

A query refinement framework for xml keyword search

Existing work of XML keyword search focus on how to find relevant and meaningful data fragments for a query, assuming each keyword is intended as part of it. However, in XML keyword search, user queries usually contain irrelevant or mismatched terms, typos etc, which may easily lead to empty or meaningless results. In this paper, we introduce the problem of content-aware XML keyword query refinement, where the search engine should judiciously decide whether a user query Q needs to be refined during the processing of Q, and find a list of promising refined query candidates which guarantee to have meaningful matching results over the XML data, without any user interaction or a second try. To achieve this goal, we build a novel content-aware XML keyword query refinement framework consisting of two core parts: (1) we build a query ranking model to evaluate the quality of a refined query RQ, which captures the morphological/semantical similarity between Q and RQ and the dependency of keywords of RQ over the XML data; (2) we integrate the exploration of RQ candidates and the generation of their matching results as a single problem, which is fulfilled within a one-time scan of the related keyword inverted lists optimally. Finally, an extensive empirical study verifies the efficiency and effectiveness of our framework.     

Holant Problems for 3-Regular Graphs with Complex Edge Functions

We study several embeddings of doubling metrics into low dimensional normed spaces, in particular into ? ₂ and ? _∞ . Doubling metrics are a robust class of metric spaces that have low intrinsic dimension, and often occur in applications. Understanding the dimension required for a concise representation of such metrics is a fundamental open problem in the area of metric embedding. Here we show that the n-vertex Laakso graph can be embedded into constant dimensional ? ₂ with the best possible distortion, which has implications for possible approaches to the above problem.     

Semantically-Guided Goal-Sensitive Reasoning: Inference System and Completeness

We present a new method for clausal theorem proving, named SGGS from semantically-guided goal-sensitive reasoning. SGGS generalizes to first-order logic the conflict-driven clause learning (CDCL) procedure for propositional satisfiability. Starting from an initial interpretation, used for semantic guidance, SGGS employs a sequence of constrained clauses to represent a candidate model, instance generation to extend it, resolution and other inferences to explain and solve conflicts, amending the model. We prove that SGGS is refutationally complete and model complete in the limit, regardless of initial interpretation. SGGS is also goal sensitive, if the initial interpretation is properly chosen, and proof confluent, because it repairs the current model without undoing steps by backtracking. Thus, SGGS is a complete first-order method that is simultaneously model-based à la CDCL, semantically-guided, goal-sensitive, and proof confluent.     

Agreement algorithm using the trial and error method at the macrolevel

The best-of-n problem (Valentini et al. in Front Robot AI 4(9):1–18, 2017) is one of the decision-making problems in which many robots (agents) select the best option among a set of n alternatives and are focused on the field of Swarm Robotics. Almost all of the previous studies focused on binary decision-making scenarios (\(n = 2\)) and could not be applied without any change in the case of \(n> 2\). It is necessary to satisfy constraints on the number of robots N, or the time required for reaching the best option is abruptly increased. Therefore, it is required to construct a method that can deal with \(n> 2\). In this paper, we propose an algorithm (BRT model, bias and rising threshold model) in which the time and the possibility of reaching agreement are not dependent on the number of robots N even when \(n> 2\). By computer experiments, our claims are verified within the tested parameter ranges.     

Time versus cost tradeoffs for deterministic rendezvous in networks

Two mobile agents, starting from different nodes of a network at possibly different times, have to meet at the same node. This problem is known as rendezvous. Agents move in synchronous rounds. Each agent has a distinct integer label from the set \(\{1,\ldots ,L\}\). Two main efficiency measures of rendezvous are its time (the number of rounds until the meeting) and its cost (the total number of edge traversals). We investigate tradeoffs between these two measures. A natural benchmark for both time and cost of rendezvous in a network is the number of edge traversals needed for visiting all nodes of the network, called the exploration time. Hence we express the time and cost of rendezvous as functions of an upper bound E on the time of exploration (where E and a corresponding exploration procedure are known to both agents) and of the size L of the label space. We present two natural rendezvous algorithms. Algorithm Cheap has cost O(E) (and, in fact, a version of this algorithm for the model where the agents start simultaneously has cost exactly E) and time O(EL). Algorithm Fast has both time and cost \(O(E\log L)\). Our main contributions are lower bounds showing that, perhaps surprisingly, these two algorithms capture the tradeoffs between time and cost of rendezvous almost tightly. We show that any deterministic rendezvous algorithm of cost asymptotically E (i.e., of cost \(E+o(E)\)) must have time \(\varOmega (EL)\). On the other hand, we show that any deterministic rendezvous algorithm with time complexity \(O(E\log L)\) must have cost \(\varOmega (E\log L)\).     

Continuous visible nearest neighbor query processing in spatial databases

In this paper, we identify and solve a new type of spatial queries, called continuous visible nearest neighbor (CVNN) search. Given a data set P, an obstacle set O, and a query line segment q in a two-dimensional space, a CVNN query returns a set of \({\langle p, R\rangle}\) tuples such that \({p \in P}\) is the nearest neighbor to every point r along the interval \({R \subseteq q}\) as well as p is visible to r. Note that p may be NULL, meaning that all points in P are invisible to all points in R due to the obstruction of some obstacles in O. In contrast to existing continuous nearest neighbor query, CVNN retrieval considers the impact of obstacles on visibility between objects, which is ignored by most of spatial queries. We formulate the problem, analyze its unique characteristics, and develop efficient algorithms for exact CVNN query processing. Our methods (1) utilize conventional data-partitioning indices (e.g., R-trees) on both P and O, (2) tackle the CVNN search by performing a single query for the entire query line segment, and (3) only access the data points and obstacles relevant to the final query result by employing a suite of effective pruning heuristics. In addition, several interesting variations of CVNN queries have been introduced, and they can be supported by our techniques, which further demonstrates the flexibility of the proposed algorithms. A comprehensive experimental evaluation using both real and synthetic data sets has been conducted to verify the effectiveness of our proposed pruning heuristics and the performance of our proposed algorithms.     

A metric for total tardiness minimization

In this paper we consider the NP-hard 1|r _j |ΣT _j scheduling problem, suggesting a polynomial algorithm to find its approximate solution with the guaranteed absolute error. The algorithm employs a metric introduced in the parameter space. In addition, we study the possible application of such an approach to other scheduling problems.