Can Genetic Algorithms Be Used for Real-Time Obstacle Avoidance for LiDAR-Equipped Mobile Robots?

Despite significant progress in robot hardware, the number of mobile robots deployed in public spaces remains low. One of the challenges hindering a wider deployment is that even if a robot can build a map of the environment, for instance through the use of LiDAR sensors, it also needs to calculate, in real time, a smooth trajectory that avoids both static and mobile obstacles. Considering this scenario, in this paper we investigate whether genetic algorithms can play a role in real-time obstacle avoidance. Historically, the typical use of genetic algorithms was in offline optimization. To investigate whether an online, real-time deployment is possible, we create a family of algorithms called GAVO that combines genetic algorithms with the velocity obstacle model. Through a series of experiments, we show that a carefully chosen chromosome representation and parametrization can achieve real-time performance on the obstacle avoidance problem.

Exploring the Predictability of Temperatures in a Scaled Model of a Smarthome.

In modern smarthomes, temperature regulation is achieved through a mix of traditional and emergent technologies including air conditioning, heating, intelligent utilization of the effects of sun, wind, and shade as well as using stored heat and cold. To achieve the desired comfort for the inhabitants while minimizing environmental impact and cost, the home controller must predict how its actions will impact the temperature and other environmental factors in various parts of the home. The question we are investigating in this paper is whether the temperature values in different rooms in a home are predictable based on readings from sensors in the home. We are also interested in whether increased accuracy can be achieved by adding sensors to capture the state of doors and windows of the given room and/or the whole home, and what type of machine learning algorithms can take advantage of the additional information. As experimentation on real-world homes is highly expensive, we use ScaledHome, a 1:12 scale, IoT-enabled model of a smart home for data acquisition. Our experiments show that while additional data can improve the accuracy of the prediction, the type of machine learning models needs to be carefully adapted to the number of data features available.

A Smart Walker for People with Both Visual and Mobility Impairment.

In recent years, significant work has been done in technological enhancements for mobility aids (smart walkers). However, most of this work does not cover the millions of people who have both mobility and visual impairments. In this paper, we design and study four different configurations of smart walkers that are specifically targeted to the needs of this population. We investigated different sensing technologies (ultrasound-based, infrared depth cameras and RGB cameras with advanced computer vision processing), software configurations, and user interface modalities (haptic and audio signal based). Our experiments show that there are several engineering choices that can be used in the design of such assistive devices. Furthermore, we found that a holistic evaluation of the end-to-end performance of the systems is necessary, as the quality of the user interface often has a larger impact on the overall performance than increases in the sensing accuracy beyond a certain point.

Value of Information Based Data Retrieval in UWSNs.

Sensor nodes in underwater sensor networks may acquire data at a higher rate than their ability to communicate over underwater acoustic channels. Autonomous underwater vehicles may mitigate this mismatch by offloading high volumes of data from the sensor nodes and ferrying them to the sink. Such a mode of data transfer results in high latency. Occasionally, these networks need to report high priority events such as catastrophes or intrusions. In such a scenario the expectation is to have a minimal end-to-end delay for event reporting. Considering this, underwater vehicles should schedule their visits to the sensor nodes in a manner that aids efficient reporting of high-priority events. We propose the use of the Value of Information metric in order to improve the reporting of events in an underwater sensor network. The proposed approach classifies the recorded data in terms of its value and priority. The classified data is transmitted using a combination of acoustic and optical channels. We perform experiments with a binary event model, i.e., we classify the events into high-priority and low-priority events. We explore a couple of different path planning strategies for the autonomous underwater vehicle. Our results show that scheduling visits to sensor nodes, based on algorithms that address the value of information, improves the timely reporting of high priority data and enables the accumulation of larger value of information.

Towards a computational model of social norms.

We describe a computational model of social norms based on identifying values that a certain culture finds desirable such as dignity, generosity and politeness. The model quantifies these values in the form of Culture-Sanctioned Social Metrics (CSSMs) and treats social norms as the requirement to maximize these metrics from the perspective of the self, peers and public. This model can be used to create realistic social simulations, to explain or predict human behavior in specific scenarios, or as a component of robots or agents that need to interact with humans in specific social-cultural settings. We validate the model by using it to represent a complex deception scenario and showing that it can yield non-trivial insights such as the explanation of apparently irrational human behavior.

Comparative analysis of system identification techniques for nonlinear modeling of the neuron-microelectrode junction.

Applications of non-invasive neuroelectronic interfacing in the fields of whole-cell biosensing, biological computation and neural prosthetic devices depend critically on an efficient decoding and processing of information retrieved from a neuron-electrode junction. This necessitates development of mathematical models of the neuron-electrode interface that realistically represent the extracellular signals recorded at the neuroelectronic junction without being computationally expensive. Extracellular signals recorded using planar microelectrode or field effect transistor arrays have, until now, primarily been represented using linear equivalent circuit models that fail to reproduce the correct amplitude and shape of the signals recorded at the neuron-microelectrode interface. In this paper, to explore viable alternatives for a computationally inexpensive and efficient modeling of the neuron-electrode junction, input-output data from the neuron-electrode junction is modeled using a parametric Wiener model and a Nonlinear Auto-Regressive network with eXogenous input trained using a dynamic Neural Network model (NARX-NN model). Results corresponding to a validation dataset from these models are then employed to compare and contrast the computational complexity and efficiency of the aforementioned modeling techniques with the Lee-Schetzen technique of cross-correlation for estimating a nonlinear dynamic model of the neuroelectronic junction.