Abstract-- This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks, using multiple robots can increase the efficiency of the area coverage in terms of minimizing the operational time and increase the robustness in the face of robot attrition. Unfortunately, the problem of finding an optimal solution for such an area coverage problem with multiple robots is known to be NPcomplete. The first solution presented is a direct extension of an efficient single robot area coverage algorithm, based on an exact cellular decomposition. The second algorithm is a greedy approach that divides the area into equal regions and applies an efficient single-robot coverage algorithm to each region. Results indicate that our approaches provide good coverage distribution between robots and minimize the workload per robot, meanwhile ensuring complete coverage of the area. Index Terms-- Multiple and distributed robots, path planning, coverage.

In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can be modeled using Dubins vehicle kinematics. This paper focuses on environmental monitoring of aquatic environments using Autonomous Surface Vehicles (ASVs). In particular, we propose a novel approach for solving the problem of complete coverage of a known environment by a multi-robot team consisting of Dubins vehicles. It is worth noting that both multi-robot coverage and Dubins vehicle coverage are NP-complete problems. As such, we present two heuristics methods based on a variant of the traveling salesman problem -- k-TSP -- formulation and clustering algorithms that efficiently solve the problem. The proposed methods are tested both in simulations to assess their scalability and with a team of ASVs operating on a lake to ensure their applicability in real world.

Data augmentation in deep neural networks is the process of generating artificial data in order to reduce the variance of the classifier with the goal to reduce the number of errors. This idea has been shown to improve deep neural network's generalization capabilities in many computer vision tasks such as image recognition and object localization. Apart from these applications, deep Convolutional Neural Networks (CNNs) have also recently gained popularity in the Time Series Classification (TSC) community. However, unlike in image recognition problems, data augmentation techniques have not yet been investigated thoroughly for the TSC task. This is surprising as the accuracy of deep learning models for TSC could potentially be improved, especially for small datasets that exhibit overfitting, when a data augmentation method is adopted. In this paper, we fill this gap by investigating the application of a recently proposed data augmentation technique based on the Dynamic Time Warping distance, for a deep learning model for TSC. To evaluate the potential of augmenting the training set, we performed extensive experiments using the UCR TSC benchmark. Our preliminary experiments reveal that data augmentation can drastically increase deep CNN's accuracy on some datasets and significantly improve the deep model's accuracy when the method is used in an ensemble approach.

ABSTRACT This paper investigates the impact of word-based RNN language models (RNN-LMs) on the performance of end-to-end automatic speech recognition (ASR). In our prior work, we have proposed a multilevel LM, in which character-based and word-based RNN-LMs are combined in hybrid CTC/attention-based ASR. Although this multilevel approach achieves significant error reduction in the Wall Street Journal (WSJ) task, two different LMs need to be trained and used for decoding, which increase the computational cost and memory usage. In this paper, we further propose a novel wordbased RNN-LM, which allows us to decode with only the wordbased LM, where it provides look-ahead word probabilities to predict next characters instead of the character-based LM, leading competitive accuracy with less computation compared to the multilevel LM. We demonstrate the efficacy of the word-based RNN-LMs using a larger corpus, LibriSpeech, in addition to WSJ we used in the prior work. Furthermore, we show that the proposed model achieves 5.1 %WER for WSJ Eval'92 test set when the vocabulary size is increased, which is the best WER reported for end-to-end ASR systems on this benchmark. Index Terms-- End-to-end speech recognition, language modeling, decoding, connectionist temporal classification, attention decoder 1. INTRODUCTION Automatic speech recognition (ASR) is currently a mature set of widely-deployed technologies that enable successful user interface applications such as voice search [1]. However, current systems lean heavily on the scaffolding of complicated legacy architectures that grew up around traditional techniques, including hidden Markov models (HMMs), Gaussian mixture models (GMMs), hybrid HMM/deep neural network (DNN) systems, and sequence discriminative training methods [2].

We contribute the first large-scale dataset of scene sketches, SketchyScene, with the goal of advancing research on sketch understanding at both the object and scene level. The dataset is created through a novel and carefully designed crowdsourcing pipeline, enabling users to efficiently generate large quantities of realistic and diverse scene sketches. SketchyScene contains more than 29,000 scene-level sketches, 7,000+ pairs of scene templates and photos, and 11,000+ object sketches. All objects in the scene sketches have ground-truth semantic and instance masks. The dataset is also highly scalable and extensible, easily allowing augmenting and/or changing scene composition. We demonstrate the potential impact of SketchyScene by training new computational models for semantic segmentation of scene sketches and showing how the new dataset enables several applications including image retrieval, sketch colorization, editing, and captioning, etc. The dataset and code can be found at https://github.com/SketchyScene/SketchyScene.

Multi-output Gaussian processes (MOGPs) are recently extended by using spectral mixture kernel, which enables expressively pattern extrapolation with a strong interpretation. In particular, Multi-Output Spectral Mixture kernel (MOSM) is a recent, powerful state of the art method. However, MOSM cannot reduce to the ordinary spectral mixture kernel (SM) when using a single channel. Moreover, when the spectral density of different channels is either very close or very far from each other in the frequency domain, MOSM generates unreasonable scale effects on cross weights which produces an incorrect description of the channel correlation structure. In this paper, we tackle these drawbacks and introduce a principled multi-output convolution spectral mixture kernel (MOCSM) framework. In our framework, we model channel dependencies through convolution of time and phase delayed spectral mixtures between different channels.

It has been recently shown that sparse, nonnegative tensor factorization of multi-modal electronic health record data is a promising approach to high-throughput computational phenotyping. However, such approaches typically do not leverage available domain knowledge while extracting the phenotypes; hence, some of the suggested phenotypes may not map well to clinical concepts or may be very similar to other suggested phenotypes. To address these issues, we present a novel, automatic approach called PIVETed-Granite that mines existing biomedical literature (PubMed) to obtain cannot-link constraints that are then used as side-information during a tensor-factorization based computational phenotyping process. The resulting improvements are clearly observed in experiments using a large dataset from VUMC to identify phenotypes for hypertensive patients.

This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Data Availability: The owner of the data is an elite soccer club in Italy which wants to remain anonymous and did not give the permission to make the original data publicly available. The club has the right to choose which information, results and data can be made public and has granted the access to these data to the authors only for research aims. In accordance with SoBigData Ethical Committee, we can provide upon request transformed data that are processed in such a way that it is not possible to re-identify the subjects involved in the study. The transformed data reflect the same data distribution of real data to guarantee that the experiments performed on the transformed data produce the same results as the ones shown in the paper.

Nearly a decade ago scientists got pretty excited over a glow coming out of the center of our galaxy. They believed it to be gamma ray emissions resulting from self-destructing dark matter. Unfortunately, it turns out, the Milky Way's glowing "bulge" wasn't related to suicidal dark matter. It was probably just gas. A team of researchers from the University of Amsterdam and the University of Grenoble Alpes today published work indicating the glow is actually just a profile of the stars the bulge surrounds.

Virtual reality seems built for horror: you literally cannot look away. And PSVR feels built for the horror game, allowing for depth and intensity of scares that would never be possible on a traditional screen. The Persistence not only recognises that fact but has built an entire game around it. You are not only stuck inside of your headset, but also stuck inside of a ship filled with horrifying monsters, too – there's no escape in the real world or the virtual one. The game's basic premise is that you are stuck on a spaceship, through which you have to travel. But there is an army of monstrous, zombie clones ready to stop you, forcing players to fight them off with a wide variety of weapons and new 3D printed bodies that await you when you die.