We propose an occupancy grid mapping algorithm for mobile robots operating in environments where objects may change their locations over time. Most mapping algorithms rely on a static world assumption, which cannot model non-stationary objects (chairs, desks, . . . ). This paper describes an extension to the well-known occupancy grid mapping technique [5,10] for learning models of non-stationar...

We consider decision-making problems in Markov decision processes where both the rewards and the transition probabilities vary in an arbitrary (e.g., nonstationary) fashion to some extent. We propose online learning algorithms and provide guarantees on their performance evaluated in retrospect against stationary policies. Unlike previous works, the guarantees depend critically on the variabilit...

What is the origin of macroscopic randomness (uncertainty)? This is one of the most fundamental open questions for human being. In this paper, 10000 samples of reliable (convergent), multiple-scale (from 10−60 to 10) numerical simulations of a chaotic three-body system indicate that, without any external disturbance, the microscopic inherent uncertainty (in the level of 10−60) due to physical f...

A new methodology named Evolutionary Artificial Potential Field (EAPF) is proposed for real-time robot path planning. The artificial potential field method is combined with genetic algorithms, to derive optimal potential field functions. The proposed Evolutionary Artificial Potential Field approach is capable of navigating robot(s) situated among moving obstacles. Potential field functions for ...

In Internet audio applications, delay and delay jitter affect applications' quality of service mostly. Since packet delays are different and changing over time, the receiver needs to buffer some amount of packets before playout. Therefore, the amount of buffered packets and timing of playout are very important for the performance of the applications. Here we adopt an auto-regressive (AR) model ...

A new approach to guiding a swarm of missiles using an on-line evolutionary algorithm to optimise the flight paths is introduced. The missiles are flown via intermediate points which are adjusted dynamically by the evolutionary algorithm, then towards the point of impact with the target, thus altering the trajectory shape. Evolutionary algorithms are robust global optimisation techniques and ar...

The feature map represented by the set of weight vectors of the basic SOM (Self-Organizing Map) provides a good approximation to the input space from which the sample vectors come. But the timedecreasing learning rate and neighborhood function of the basic SOM algorithm reduce its capability to adapt weights for a varied environment. In dealing with non-stationary input distributions and changi...

In wireless sensor networks (WSNs), each sensor node can estimate the global parameter from the local data in a distributed manner. This paper proposed a robust diffusion estimation algorithm based on a minimum error entropy criterion with a self-adjusting step-size, which are referred to as the diffusion MEE-SAS (DMEE-SAS) algorithm. The DMEE-SAS algorithm has a fast speed of convergence and i...

For Markov sources, the structure of optimal causal encoders minimizing the total communication rate subject to a mean-square distortion constraint is studied. Results on the nature of non-stationarity of the optimal quantizers are presented. The class of sources considered lives in a continuous alphabet, and the encoder is allowed to be variable-rate. Both the finitehorizon and the infinite-ho...