Compared to conventional cars, electric vehicles still suffer from a considerably shorter cruising range. Combined with the sparsity of battery loading stations, the complete transition to E-mobility still seems a long way to go. In this paper, we consider the problem of placing as few loading stations as possible such that on any shortest path there are enough to guarantee sufficient energy supply. This means, that EV owners no longer have to plan their trips ahead incorporating loading station locations, and are no longer forced to accept long detours to reach their destinations. We show how to model this problem and introduce heuristics which provide close-to-optimal solutions even in large road networks.

Extracting emotions from images has attracted much interest, in particular with the rapid development of social networks. The emotional impact is very important for understanding the intrinsic meanings of images. Despite many studies having been done, most existing methods focus on image content, but ignore the emotion of the user who published the image. One interesting question is: How does social effect correlate with the emotion expressed in an image? Specifically, can we leverage friends interactions (e.g., discussions) related to an image to help extract the emotions? In this paper, we formally formalize the problem and propose a novel emotion learning method by jointly modeling images posted by social users and comments added by their friends. One advantage of the model is that it can distinguish those comments that are closely related to the emotion expression for an image from the other irrelevant ones. Experiments on an open Flickr dataset show that the proposed model can significantly improve (+37.4% by F1) the accuracy for inferring user emotions. More interestingly, we found that half of the improvements are due to interactions between 1.0% of the closest friends.

In this work, we propose a novel node splitting method for regression trees and incorporate it into the regression forest framework. Unlike traditional binary splitting, where the splitting rule is selected from a predefined set of binary splitting rules via trial-and-error, the proposed node splitting method first finds clusters of the training data which at least locally minimize the empirical loss without considering the input space. Then splitting rules which preserve the found clusters as much as possible are determined by casting the problem into a classification problem. Consequently, our new node splitting method enjoys more freedom in choosing the splitting rules, resulting in more efficient tree structures. In addition to the Euclidean target space, we present a variant which can naturally deal with a circular target space by the proper use of circular statistics. We apply the regression forest employing our node splitting to head pose estimation (Euclidean target space) and car direction estimation (circular target space) and demonstrate that the proposed method significantly outperforms state-of-the-art methods (38.5% and 22.5% error reduction respectively).

Consider a family whose home is equipped with several service robots. The actions planned for the robots must adhere to Interaction Constraints (ICs) relating them to human activities and preferences. These constraints must be sufficiently expressive to model both temporal and logical dependencies among robot actions and human behavior, and must accommodate incomplete information regarding human activities. In this paper we introduce an approach for automatically generating plans that are conformant wrt. given ICs and partially specified human activities. The approach allows to separate causal reasoning about actions from reasoning about ICs, and we illustrate the computational advantage this brings with experiments on a large-scale (semi-)realistic household domain with hundreds of human activities and several robots.

Central to robot exploration and mapping is the task of persistent localization in environmental fields characterized by spatially correlated measurements. This paper presents a Gaussian process localization (GP-Localize) algorithm that, in contrast to existing works, can exploit the spatially correlated field measurements taken during a robot's exploration (instead of relying on prior training data) for efficiently and scalably learning the GP observation model online through our proposed novel online sparse GP. As a result, GP-Localize is capable of achieving constant time and memory (i.e., independent of the size of the data) per filtering step, which demonstrates the practical feasibility of using GPs for persistent robot localization and autonomy. Empirical evaluation via simulated experiments with real-world datasets and a real robot experiment shows that GP-Localize outperforms existing GP localization algorithms.

Utilizing multiple queues in Greedy Best-First Search (GBFS) has been proven to be a very effective approach to satisficing planning. Successful techniques include extra queues based on Helpful Actions (or Preferred Operators), as well as using Multiple Heuristics. One weakness of all standard GBFS algorithms is their lack of exploration. All queues used in these methods work as priority queues sorted by heuristic values. Therefore, misleading heuristics, especially early in the search process, can cause the search to become ineffective. Type systems, as introduced for heuristic search by Lelis et al, are a development of ideas for exploration related to the classic stratified sampling approach. The current work introduces a search algorithm that utilizes type systems in a new way – for exploration within a GBFS multiqueue framework in satisficing planning. A careful case study shows the benefits of such exploration for overcoming deficiencies of the heuristic. The proposed new baseline algorithm Type-GBFS solves almost 200 more problems than baseline GBFS over all International Planning Competition problems. Type-LAMA, a new planner which integrates Type-GBFS into LAMA-2011, solves 36.8 more problems than LAMA-2011.

Also, we do many application domains, ranging from search and rescue not assume that all teams are in the same workspace, or all operations to exploration missions, service robotics to cognitive robots are of the same sort. Moreover, our goal is not to find factories. In these domains, the goal is for all teams any coordination of teams that would allow decoupling of to complete their tasks as soon as possible, and should the their local plans, but to find a coordination of teams for an need arise, teams help each other by lending robots.

Many Artificial Intelligence tasks need large amounts of commonsense knowledge. Because obtaining this knowledge through machine learning would require a huge amount of data, a better alternative is to elicit it from people through human computation. We consider the sentiment classification task, where knowledge about the contexts that impact word polarities is crucial, but hard to acquire from data. We describe a novel task design that allows us to crowdsource this knowledge through Amazon Mechanical Turk with high quality. We show that the commonsense knowledge acquired in this way dramatically improves the performance of established sentiment classification methods.

Similarity between words is becoming a generic problem for many applications of computational linguistics, and computing word similarities is determined by word representations. Inspired by the analogies between words and lymphocytes, a lymphocyte-style word representation is proposed. The word representation is built on the basis of dependency syntax of sentences and represent word context as head properties and dependent properties of the word. Lymphocyte-style word representations are evaluated by computing the similarities between words, and experiments are conducted on the Penn Chinese Treebank 5.1. Experimental results indicate that the proposed word representations are effective.

Hybrid reasoners combine multiple types of reasoning, usually subsumption and Prolog-style resolution. We outline a system which combines natural deduction and subsumption reasoning using Inference Graphs implementing a Logic of Arbitrary and Indefinite Objects.