Disaster rescue is one of the most serious social issues that involves very large numbers of heterogeneous agents in the hostile environment. The intention of the RoboCup Rescue project is to promote research and development in this socially significant domain at various levels, involving multiagent teamwork coordination, physical agents for search and rescue, information infrastructures, personal digital assistants, a standard simulator and decision-support systems, evaluation benchmarks for rescue strategies, and robotic systems that are all integrated into a comprehensive system in the future. For this effort, which was built on the success of the RoboCup Soccer project, we will provide forums of technical discussions and competitive evaluations for researchers and practitioners. Although the rescue domain is intuitively appealing as a large-scale multiagent and intelligent system domain, analysis has not yet revealed its domain characteristics. The first research evaluation meeting will be held at RoboCup-2001, in conjunction with the Seventeenth International Joint Conference on Artificial Intelligence (IJCAI-2001), as part of the RoboCup Rescue Simulation League and RoboCup/AAAI Rescue Robot Competition. In this article, we present a detailed analysis of the task domain and elucidate characteristics necessary for multiagent and intelligent systems for this domain. Then, we present an overview of the RoboCup Rescue project.

The Fourth Robotic Soccer World Championships (RoboCup-2000) was held from 27 August to 3 September 2000 at the Melbourne Exhibition Center in Melbourne, Australia. In total, 83 teams, consisting of about 500 people, participated in RoboCup-2000, and about 5000 spectators watched the events. RoboCup-2000 showed dramatic improvement over past years in each of the existing robotic soccer leagues (legged, small size, mid size, and simulation) and introduced RoboCup Jr. competitions and RoboCup Rescue and Humanoid demonstration events. The RoboCup Workshop, held in conjunction with the championships, provided a forum for the exchange of ideas and experiences among the different leagues. This article summarizes the advances seen at RoboCup-2000, including reports from the championship teams and overviews of all the RoboCup events.

In this document we propose a new improvement for boosting techniques as proposed in Friedman '99 by the use of non-convex cost functional. The idea is to introduce a correlation term to better deal with forecasting of additive time series. The problem is discussed in a theoretical way to prove the existence of minimizing sequence, and in a numerical way to propose a new "ArgMin" algorithm. The model has been used to perform the touristic presence forecast for the winter season 1999/2000 in Trentino (italian Alps).

Fishers linear discriminant analysis (LDA) is a classical multivariate technique both for dimension reduction and classification. The data vectors are transformed into a low dimensional subspace such that the class centroids are spread out as much as possible. In this subspace LDA works as a simple prototype classifier with linear decision boundaries. However, in many applications the linear boundaries do not adequately separate the classes. We present a nonlinear generalization of discriminant analysis that uses the kernel trick of representing dot products by kernel functions.

In hyperspectral imagery one pixel typically consists of a mixture of the reflectance spectra of several materials, where the mixture coefficients correspond to the abundances of the constituting materials. Weassume linear combinations of reflectance spectra with some additive normal sensor noise and derive a probabilistic MAP framework for analyzing hyperspectral data. As the material reflectance characteristicsare not know a priori, we face the problem of unsupervised linear unmixing.

We propose a novel approach for building finite memory predictive models similar in spirit to variable memory length Markov models (VLMMs). The models are constructed by first transforming the n-block structure of the training sequence into a spatial structure of points in a unit hypercube, such that the longer is the common suffix shared by any two n-blocks, the closer lie their point representations. Such a transformation embodies a Markov assumption - n-blocks with long common suffixes are likely to produce similar continuations. Finding a set of prediction contexts is formulated as a resource allocation problem solved by vector quantizing the spatial n-block representation. We compare our model with both the classical and variable memory length Markov models on three data sets with different memory and stochastic components. Our models have a superior performance, yet, their construction is fully automatic, which is shown to be problematic in the case of VLMMs.

A system emulating the functionality of a moving eye-hence the name oculomotor system-has been built and successfully tested.

In particular, Mackay showed that by approximating the distributions of the weights with Gaussians and adopting smoothing priors, it is possible to obtain estimates of the weights and output variances and to automatically set the regularisation coefficients. Neal (1996) cast the net much further by introducing advanced Bayesian simulation methods, specifically the hybrid Monte Carlo method, into the analysis of neural networks [3]. Bayesian sequential Monte Carlo methods have also been shown to provide good training results, especially in time-varying scenarios [4]. More recently, Rios Insua and Muller (1998) and Holmes and Mallick (1998) have addressed the issue of selecting the number of hidden neurons with growing and pruning algorithms from a Bayesian perspective [5,6]. In particular, they apply the reversible jump Markov Chain Monte Carlo (MCMC) algorithm of Green [7] to feed-forward sigmoidal networks and radial basis function (RBF) networks to obtain joint estimates of the number of neurons and weights. We also apply the reversible jump MCMC simulation algorithm to RBF networks so as to compute the joint posterior distribution of the radial basis parameters and the number of basis functions. However, we advance this area of research in two important directions. Firstly, we propose a full hierarchical prior for RBF networks.

We consider the problem of reconstructing a temporal discrete sequence of multidimensional real vectors when part of the data is missing, under the assumption that the sequence was generated by a continuous process. A particular case of this problem is multivariate regression, which is very difficult when the underlying mapping is one-to-many. We propose an algorithm based on a joint probability model of the variables of interest, implemented using a nonlinear latent variable model. Each point in the sequence is potentially reconstructed as any of the modes of the conditional distribution of the missing variables given the present variables (computed using an exhaustive mode search in a Gaussian mixture). Mode selection is determined by a dynamic programming search that minimises a geometric measure of the reconstructed sequence, derived from continuity constraints. We illustrate the algorithm with a toy example and apply it to a real-world inverse problem, the acoustic-toarticulatory mapping. The results show that the algorithm outperforms conditional mean imputation and multilayer perceptrons. 1 Definition of the problem

Local "belief propagation" rules of the sort proposed by Pearl [15] are guaranteed to converge to the correct posterior probabilities in singly connected graphical models. Recently, a number of researchers have empirically demonstrated good performance of "loopy belief propagation" using these same rules on graphs with loops. Perhaps the most dramatic instance is the near Shannon-limit performance of "Turbo codes", whose decoding algorithm is equivalent to loopy belief propagation. Except for the case of graphs with a single loop, there has been little theoretical understanding of the performance of loopy propagation. Here we analyze belief propagation in networks with arbitrary topologies when the nodes in the graph describe jointly Gaussian random variables.