For autonomous Unmanned Aerial Vehicles(UAVs)flying in real-world scenarios,time for path planning is always limited,which is a challenge known as the anytime problem.Anytime planners address this by finding a collisi...For autonomous Unmanned Aerial Vehicles(UAVs)flying in real-world scenarios,time for path planning is always limited,which is a challenge known as the anytime problem.Anytime planners address this by finding a collision-free path quickly and then improving it until time runs out,making UAVs more adaptable to different mission scenarios.However,current anytime algorithms based on A^(*)have insufficient control over the suboptimality bounds of paths and tend to lose their anytime properties in environments with large concave obstacles.This paper proposes a novel anytime path planning algorithm,Anytime Radiation A^(*)(ARa A^(*)),which can generate a series of suboptimal paths with improved bounds through decreasing search step sizes and can generate the optimal path when time is sufficient.The ARa A^(*)features two main innovations:an adaptive variable-step-size mechanism and elliptic constraints based on waypoints.The former helps achieve fast path searching in various environments.The latter allows ARa A^(*)to control the suboptimality bounds of paths and further enhance search efficiency.Simulation experiments show that the ARa A^(*)outperforms Anytime Repairing A^(*)(ARA^(*))and Anytime D^(*)(AD^(*))in controlling suboptimality bounds and planning time,especially in environments with large concave obstacles.Final flight experiments demonstrate that the paths planned by ARa A^(*)can ensure the safe flight of quadrotors.展开更多
Classification,using the decision tree algorithm,is a widely studied problem in data streams.The challenge is when to split a decision node into multiple leaves.Concentration inequalities,that exploit variance informa...Classification,using the decision tree algorithm,is a widely studied problem in data streams.The challenge is when to split a decision node into multiple leaves.Concentration inequalities,that exploit variance information such as Bernstein's and Bennett's inequalities,are often substantially strict as compared with Hoeffding's bound which disregards variance.Many machine learning algorithms for stream classification such as very fast decision tree(VFDT) learner,AdaBoost and support vector machines(SVMs),use the Hoeffding's bound as a performance guarantee.In this paper,we propose a new algorithm based on the recently proposed empirical Bernstein's bound to achieve a better probabilistic bound on the accuracy of the decision tree.Experimental results on four synthetic and two real world data sets demonstrate the performance gain of our proposed technique.展开更多
In many planning situations, computation itself becomes a resource to be planned and scheduled. We model such computational resources as conventional resources which are used by control-flow actions, e.g., to direc...In many planning situations, computation itself becomes a resource to be planned and scheduled. We model such computational resources as conventional resources which are used by control-flow actions, e.g., to direct the planning process. Control-flow actions and conventional actions are planned/scheduled in an integrated way and can interact with each other. Control-flow actions are then executed by the planning engine itself. The approach is illustrated by examples, e.g., for hierarchical planning, in which tasks that are temporally still far away impose only rough constraints on the current schedule, and control-flow tasks ensure that these tasks are refined as they approach the current time. Using the same mechanism, anytime algorithms can change appropriate search methods or parameters over time, and problems like scheduling critical time-outs for garbage collection can be made part of the planning itself.展开更多
基金the support of the National Natural Science Foundation of China(No.52272382)the Aeronautical Science Foundation of China(No.20200017051001)the Fundamental Research Funds for the Central Universities,China。
文摘For autonomous Unmanned Aerial Vehicles(UAVs)flying in real-world scenarios,time for path planning is always limited,which is a challenge known as the anytime problem.Anytime planners address this by finding a collision-free path quickly and then improving it until time runs out,making UAVs more adaptable to different mission scenarios.However,current anytime algorithms based on A^(*)have insufficient control over the suboptimality bounds of paths and tend to lose their anytime properties in environments with large concave obstacles.This paper proposes a novel anytime path planning algorithm,Anytime Radiation A^(*)(ARa A^(*)),which can generate a series of suboptimal paths with improved bounds through decreasing search step sizes and can generate the optimal path when time is sufficient.The ARa A^(*)features two main innovations:an adaptive variable-step-size mechanism and elliptic constraints based on waypoints.The former helps achieve fast path searching in various environments.The latter allows ARa A^(*)to control the suboptimality bounds of paths and further enhance search efficiency.Simulation experiments show that the ARa A^(*)outperforms Anytime Repairing A^(*)(ARA^(*))and Anytime D^(*)(AD^(*))in controlling suboptimality bounds and planning time,especially in environments with large concave obstacles.Final flight experiments demonstrate that the paths planned by ARa A^(*)can ensure the safe flight of quadrotors.
基金the National Natural Science Foundation of China(Nos.60873108,61175047 and 61152001)the Fundamental Research Funds for the Central Universities of China(No.SWJTU11ZT08)
文摘Classification,using the decision tree algorithm,is a widely studied problem in data streams.The challenge is when to split a decision node into multiple leaves.Concentration inequalities,that exploit variance information such as Bernstein's and Bennett's inequalities,are often substantially strict as compared with Hoeffding's bound which disregards variance.Many machine learning algorithms for stream classification such as very fast decision tree(VFDT) learner,AdaBoost and support vector machines(SVMs),use the Hoeffding's bound as a performance guarantee.In this paper,we propose a new algorithm based on the recently proposed empirical Bernstein's bound to achieve a better probabilistic bound on the accuracy of the decision tree.Experimental results on four synthetic and two real world data sets demonstrate the performance gain of our proposed technique.
文摘In many planning situations, computation itself becomes a resource to be planned and scheduled. We model such computational resources as conventional resources which are used by control-flow actions, e.g., to direct the planning process. Control-flow actions and conventional actions are planned/scheduled in an integrated way and can interact with each other. Control-flow actions are then executed by the planning engine itself. The approach is illustrated by examples, e.g., for hierarchical planning, in which tasks that are temporally still far away impose only rough constraints on the current schedule, and control-flow tasks ensure that these tasks are refined as they approach the current time. Using the same mechanism, anytime algorithms can change appropriate search methods or parameters over time, and problems like scheduling critical time-outs for garbage collection can be made part of the planning itself.
