An algorithm is presented for propagating the effect of single or multiple faults in a system modeled by a cognitive map. The cognitive map is a directed causal graphs that can be used to model complex dynamic system. Also shown is the propagation of variance estimates of uncertainty associated with the presence of a fault and with the arcs, representing strength of causality, in the cognitive ...

ÐAn active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable longterm localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for a...

Mobile robot’s full autonomy widens their range of applicability. In this context, it is essential that a mobile robot is able to construct its own map based on sensors data readings, which are the only means the robot has to interact with its surroundings. Thus, map building, path planning, obstacle avoidance, and control are crucial in achieving full autonomy. Map building shall be carried ou...

Abstract— An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localisation and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localisation using only naturally occurring, automatically-detected features. In this paper we present the first example of a general sys...

Domestic energy modelling is complex, in terms of user input and the approach used to define the model; therefore, there is an increase in the sources of uncertainties. Previous efforts to perform sensitivity and uncertainty analyses have focused on national energy models, while in this research, the objective is to extend traditional sensitivity analysis and use a local framework combining pri...

We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously existing mapping approaches, like occupancy grids, that are focused on incrementally fusing 3D data into a common world frame. In particular, both their fragil...

This paper presents a new approach to predict soil properties and quantify uncertainty in the derived soil property maps over large areas using sparse and ad-hoc samples. According to the soil-landscape model, each soil sample contains corresponding relationships between soil and environment conditions. Under the assumption that the more similar the environment conditions between two locations ...

The question “Have I already been here, or is it the first time I see this place?” offers a paradigmatic example of the topological spatial uncertainty that may arise when exploring a new environment. This type of uncertainty concerns both the number of places encountered, and the order in which they are visited. Its occurrence requires taking into account different hypotheses about the size an...

We examine the problem of planning dives for an Autonomous Underwater Vehicle (AUV) to generate a dense bathymetric map using sidescan sonar. The three key challenges in this scenario are (1) proper modeling of the local uncertainty of the 3D reconstruction, (2) efficient dive planning to reduce this uncertainty, and (3) determination of when to re-plan adaptively based on new information. To a...

Finding edges in digital images is a very basic and important task. This paper describes a new technique to address this problem. The proposed technique tries to solve two of the main difficulties that edge finding algorithms must face: uncertainty due to noise artifacts and combination of details detected at different scales. In particular we adapt a fuzzy arithmetic approach called “Fuzzy Mar...