Active fault tolerance is essential for robot swarms to retain long-term autonomy. Previous work on swarm fault tolerance focuses on reacting to electro-mechanical faults that are spontaneously injected into robot sensors and actuators. Resolving faults once they have manifested as failures is an inefficient approach, and there are some safety-critical scenarios in which any kind of robot failure is unacceptable. We propose a predictive approach to fault tolerance, based on the principle of preemptive maintenance, in which potential faults are autonomously detected and resolved before they manifest as failures. Our approach is shown to improve swarm performance and prevent robot failure in the cases tested.

Sparse PCA is a widely used technique for high-dimensional data analysis. In this paper, we propose a new method called low-rank principal eigenmatrix analysis. Different from sparse PCA, the dominant eigenvectors are allowed to be dense but are assumed to have a low-rank structure when matricized appropriately. Such a structure arises naturally in several practical cases: Indeed the top eigenvector of a circulant matrix, when matricized appropriately is a rank-1 matrix. We propose a matricized rank-truncated power method that could be efficiently implemented and establish its computational and statistical properties. Extensive experiments on several synthetic data sets demonstrate the competitive empirical performance of our method.

Sustainable energy policies are of growing importance in all urban centers.Climate — and climate change — will play increasingly important roles in these policies.Climate zones defined by the California Energy Commissionhave long been influential in energy management.For example, recently a two-zone division of Los Angeles(defined by historical temperature averages) was introduced for electricity rate restructuring.The importance of climate zones has been enormous,and climate change could make them still more important. AI can provide improvements on the ways climate zones are derived and managed.This paper reports on analysis of aggregate household electricity consumption (EC) data from local utilities in Los Angeles,seeking possible improvements in energy management. In this analysis we noticed that EC data permits identificationof interesting geographical zones  — regions having EC patterns that are characteristically different from surrounding regions.We believe these zones could be useful in a variety of urban models.