A Survey of Optical Flow Techniques for Robotics Navigation Applications

Optical flow has been widely used by insects and birds to support navigation functions. Such information has appealing capabilities for application to ground and aerial robots, especially for navigation and collision avoidance in urban or indoor areas. The purpose of this paper is to provide a survey of existing optical flow techniques for robotics navigation applications. Detailed comparisons are made among different optical-flow-aided navigation solutions with emphasis on the sensor hardware as well as optical flow motion models. A summary of current research status and future research directions are further discussed.     

Optimal-tuning PID control of adaptive materials for structural efficiency

The objective of this paper was solving the optimization problem of lightweight stiffened structures modelled as a two-dimensional domain in an efficient computational way. The underlying premise was that mass should be distributed in an efficient way, so as to use a minimum amount of material to accomplish the mechanical function. This premise was expressed as a global, multi-objective optimization problem in which stiffness and mass were conflicting objectives. Alternative local evolution rules were implemented to update mass density or Young’s modulus at each step of the iterative procedure. The solution of the structural optimization problem was accomplished by a novel automatic procedure consisting of two consecutive stages of control and optimization. In the first stage of Proportional Integral Derivative (PID) control gains were manually selected whereas in the second stage the finding of optimal values of control gains, target, and cost indices was allowed. In this study a bone-like material was adopted and a thin slab was analysed as a sample problem.     

Real time identification of discrete event systems using Petri nets

The paper defines the identification problem for Discrete Event Systems (DES) as the problem of inferring a Petri Net () model using the observation of the events and the available output vectors, that correspond to the markings of the measurable places. Two cases are studied considering different levels of the system knowledge. In the first case the place and transition sets are assumed known. Hence, an integer linear programming problem is defined in order to determine a modelling the DES. In the second case the transition and place sets are assumed unknown and only an upper bound of the number of places is given. Hence, the identification problem is solved by an identification algorithm that observes in real time the occurred events and the corresponding output vectors. The integer linear programming problem is defined at each observation so that the can be recursively identified. Some results and examples characterize the identified systems and show the flexibility and simplicity of the proposed technique. Moreover, an application to the synthesis of supervisory control of systems via monitor places is proposed.     

Graph-based quadratic optimization: A fast evolutionary approach

Quadratic optimization lies at the very heart of many structural pattern recognition and computer vision problems, such as graph matching, object recognition, image segmentation, etc., and it is therefore of crucial importance to devise algorithmic solutions that are both efficient and effective. As it turns out, a large class of quadratic optimization problems can be formulated in terms of so-called “standard quadratic programs” (StQPs), which ask for finding the extrema of a quadratic polynomial over the standard simplex. Computationally, the standard approach for attacking this class of problems is to use replicator dynamics, a well-known family of algorithms from evolutionary game theory inspired by Darwinian selection processes. Despite their effectiveness in finding good solutions in a variety of applications, however, replicator dynamics suffer from being computationally expensive, as they require a number of operations per step which grows quadratically with the dimensionality of the problem being solved. In order to avoid this drawback, in this paper we propose a new population game dynamics (InImDyn) which is motivated by the analogy with infection and immunization processes within a population of “players.” We prove that the evolution of our dynamics is governed by a quadratic Lyapunov function, representing the average population payoff, which strictly increases along non-constant trajectories and that local solutions of StQPs are asymptotically stable (i.e., attractive) points. Each step of InImDyn is shown to have a linear time/space complexity, thereby allowing us to use it as a more efficient alternative to standard approaches for solving StQPs and related optimization problems. Indeed, we demonstrate experimentally that InImDyn is orders of magnitude faster than, and as accurate as, replicator dynamics on various applications ranging from tree matching to image registration, matching and segmentation.     

Payoff-monotonic game dynamics and the maximum clique problem

Evolutionary game-theoretic models and, in particular, the so-called replicator equations have recently proven to be remarkably effective at approximately solving the maximum clique and related problems. The approach is centered around a classic result from graph theory that formulates the maximum clique problem as a standard (continuous) quadratic program and exploits the dynamical properties of these models, which, under a certain symmetry assumption, possess a Lyapunov function. In this letter, we generalize previous work along these lines in several respects. We introduce a wide family of game-dynamic equations known as payoff-monotonic dynamics, of which replicator dynamics are a special instance, and show that they enjoy precisely the same dynamical properties as standard replicator equations. These properties make any member of this family a potential heuristic for solving standard quadratic programs and, in particular, the maximum clique problem. Extensive simulations, performed on random as well as DIMACS benchmark graphs, show that this class contains dynamics that are considerably faster than and at least as accurate as replicator equations. One problem associated with these models, however, relates to their inability to escape from poor local solutions. To overcome this drawback, we focus on a particular subclass of payoff-monotonic dynamics used to model the evolution of behavior via imitation processes and study the stability of their equilibria when a regularization parameter is allowed to take on negative values. A detailed analysis of these properties suggests a whole class of annealed imitation heuristics for the maximum clique problem, which are based on the idea of varying the parameter during the imitation optimization process in a principled way, so as to avoid unwanted inefficient solutions. Experiments show that the proposed annealing procedure does help to avoid poor local optima by initially driving the dynamics toward promising regions in state space. Furthermore, the models outperform state-of-the-art neural network algorithms for maximum clique, such as mean field annealing, and compare well with powerful continuous-based heuristics.     

A bumpy train ride: A field experiment on insult, honor, and emotional reactions.

The present research examined the relationship between adherence to honor norms and emotional reactions after an insult. Participants were 42 Dutch male train travelers, half of whom were insulted by a confederate who bumped into the participant and made a degrading remark. Compared with insulted participants with a weak adherence to honor norms, insulted participants with a strong adherence to honor norms were (a) more angry, (b) less joyful, (c) less fearful, and (d) less resigned. Moreover, insulted participants with a strong adherence to honor norms perceived more anger in subsequent stimuli than not-insulted participants with a strong adherence to these norms. The present findings support a direct relationship among insult, adherence to honor norms, and emotional reactions. (PsycINFO Database Record (c) 2010 APA, all rights reserved)