Differential evolution solution to the SLAM problem

A new solution to the Simultaneous Localization and Modelling problem is presented in this paper. The algorithm is based on the stochastic search for solutions in the state space to the global localization problem by means of a differential evolution algorithm. This non linear evolutive filter, called Evolutive Localization Filter (ELF), searches stochastically along the state space for the best robot pose estimate. The set of pose solutions (the population) focuses on the most likely areas according to the perception and up to date motion information. The population evolves using the log-likelihood of each candidate pose according to the observation and the motion errors derived from the comparison between observed and predicted data obtained from the probabilistic perception and motion model.The proposed SLAM algorithm operates in two steps: in the first step the ELF filter is used at local level to re-localize the robot based on the robot odometry, the laser scan at a given position and a local map where only a low number of the last scans have been integrated. In the second step, the aligned laser measures and the corrected robot poses are used to detect whether the robot is revisiting a previously crossed area (i.e., a cycle in the robot trajectory exists). Once a cycle is detected, the Evolutive Localization Filter is used again to estimate the accumulated residual drift in the detected loop and then to re-estimate the robot poses in order to integrate the sensor measures in the global map of the environment.The algorithm has been tested in different environments to demonstrate the effectiveness, robustness and computational efficiency of the proposed approach.     

A revision of recent approaches for two-dimensional strip-packing problems

In this paper, we present a review of the recent approaches proposed in the literature for strip-packing problems. Many of them have been concurrently published, given some similar results for the same set of benchmarks. Due to the quantity of published papers, it is difficult to ascertain the level of current research in this area.     

Correct behavior identification system in a Tagged World

This paper presents a system that is able to process the information provided by a Tagged World to identify user’s behavior and to produce alarms in dangerous situations. The system inputs are signals from sensors, which are used to recognize correct behavior (action sequences) by Inductive Learning, using Data Mining techniques. The inference engine is a reasoning device that is implemented by means of Regular Grammars. It permits us to control user’s behavior. As output, the system produces and sends alarms when a user action sequence is wrong, indicating the erroneous actions, forgotten future, and so on. To test our system, the Tagged World is supposed to be at a house, where we have used RFID technology to control the objects inside it.     

A framework for virtual organization requirements

Virtual organizations (VOs) are formed by an alliance of organizations linked by a partnership for dealing with emerging challenges. Information and communication technologies play a fundamental role facilitating cooperation, communication and collaboration among the VO members. The formal identification and representation of Requirements Engineering (RE) for one organization have been researched to a large extent along with several elicitation techniques. However, these techniques are not adequate for covering the major challenges of RE for VO. We explore the work done in the management and RE fields to propose a model-based framework for eliciting VOs’ requirements. The goal is to analyze the VO from two points of view: border (intra-organizational, inter-organizational and extra-organizational) and abstract (intentional, organizational and operational). This article includes the framework validation with a case study and a transformation process to develop partial Business Process Diagram from the intentional models.     

A study of co-occurrence based local features for camera model identification

Camera model identification has great relevance for many forensic applications, and is receiving growing attention in the literature. Virtually all techniques rely on the traces left in the image by the long sequence of in-camera processes which are specific of each model. They differ in the prior assumptions, if any, and in how such evidence is gathered in expressive features. In this work we study a class of blind features, based on the analysis of the image residuals of all color bands. They are extracted locally, based on co-occurrence matrices of selected neighbors, and then used to train a classifier. A number of experiments are carried out on the well-known Dresden Image Database. Besides the full-knowledge case, where all models of interest are known in advance, other scenarios with more limited knowledge and partially corrupted images are also investigated. Experimental results show these features to provide a state-of-the-art performance.     

Stability of Local On‐Ramp Metering Control Laws

A framework for stability analysis of local on‐ramp metering control strategies based on the cell transmission model is presented. Within this framework, it is possible to formulate Lyapunov and input‐state stability results for on‐ramp metering control strategies in an open section of highway with on‐ramps. Using this analysis, recommendations for the design of on‐ramp metering control laws set points are derived. Two examples on the use of such analysis are presented. One deals with the stability analysis of a local on‐ramp metering control law and the other with the design of a disturbance observer that, used in combination with the local on‐ramp metering control law, provides a more robust response to traffic regulation. Simulation results are included that confirm the possibility of using this framework to test the impact of local on‐ramp metering control strategies.     

The effect of price promotions on consumer shopping behavior across online and offline channels: differences between frequent and non-frequent shoppers

Information Systems and e-Business Management - This study evaluates the differential effect of price promotions on brand choice across the offline and online channels of a grocery retailer. We use...