Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative pathfinding problems are based on the prioritized planning strategy. However, in some domains (e.g., multi-robot teams of unmanned aerial vehicles, autonomous underwater vehicles, or unmanned ground vehicles) a decentralized approach may be more desirable than a centralized one due to communication limitations imposed by the domain and/or privacy concerns. In this paper we present an asynchronous decentralized variant of prioritized planning ADPP and its interruptible version IADPP. The algorithm exploits the inherent parallelism of distributed systems and allows for a speed up of the computation process. Unlike the synchronized planning approaches, the algorithm allows an agent to react to updates about other agents' paths immediately and invoke its local spatio-temporal path planner to find the best trajectory, as response to the other agents' choices. We provide a proof of correctness of the algorithms and experimentally evaluate them on synthetic domains.

The hidden Markov model (HMM) is a widely-used generative model that copes with sequential data, assuming that each observation is conditioned on the state of a hidden Markov chain. In this paper, we derive a novel algorithm to cluster HMMs based on the hierarchical EM (HEM) algorithm. The proposed algorithm i) clusters a given collection of HMMs into groups of HMMs that are similar, in terms of the distributions they represent, and ii) characterizes each group by a "cluster center", i.e., a novel HMM that is representative for the group, in a manner that is consistent with the underlying generative model of the HMM. To cope with intractable inference in the E-step, the HEM algorithm is formulated as a variational optimization problem, and efficiently solved for the HMM case by leveraging an appropriate variational approximation. The benefits of the proposed algorithm, which we call variational HEM (VHEM), are demonstrated on several tasks involving time-series data, such as hierarchical clustering of motion capture sequences, and automatic annotation and retrieval of music and of online hand-writing data, showing improvements over current methods. In particular, our variational HEM algorithm effectively leverages large amounts of data when learning annotation models by using an efficient hierarchical estimation procedure, which reduces learning times and memory requirements, while improving model robustness through better regularization.

KI - Künstliche Intelligenz manuscript No. (will be inserted by the editor) Abstract Artificial neural networks are simple and efficient machine learning tools. Defined originally in the traditional setting of simple vector data, neural network models have evolved to address more and more difficulties of complex real world problems, ranging from time evolving data to sophisticated data structures such as graphs and functions. This paper summarizes advances on those themes from the last decade, with a focus on results obtained by members of the SAMM team of Université Paris 1. 1 Introduction In many real world applications of machine learning and related techniques, the raw data are not anymore in a standard and simple tabular format in which each object is described by a common and fixed set of numerical attributes. This standard vector model, while useful and efficient, has some obvious limitations: it is limited to numerical attributes, it cannot handle objects with non uniform descriptions (e.g., situations in which some objects have a richer description than others), relations between objects (e.g., persons involved in a social network), etc. In addition, it is quite common for real world applications to have some dynamic aspect in the sense that the data under study are the results of a temporal process. Then, the traditional hypothesis of statistical independence between observations does not hold anymore: new hypothesis and theoretical analysis are needed to justify the mathematical soundness of the machine learning methods in this context.

The paper considers a class of multi-agent Markov decision processes (MDPs), in which the network agents respond differently (as manifested by the instantaneous one-stage random costs) to a global controlled state and the control actions of a remote controller. The paper investigates a distributed reinforcement learning setup with no prior information on the global state transition and local agent cost statistics. Specifically, with the agents' objective consisting of minimizing a network-averaged infinite horizon discounted cost, the paper proposes a distributed version of $Q$-learning, $\mathcal{QD}$-learning, in which the network agents collaborate by means of local processing and mutual information exchange over a sparse (possibly stochastic) communication network to achieve the network goal. Under the assumption that each agent is only aware of its local online cost data and the inter-agent communication network is \emph{weakly} connected, the proposed distributed scheme is almost surely (a.s.) shown to yield asymptotically the desired value function and the optimal stationary control policy at each network agent. The analytical techniques developed in the paper to address the mixed time-scale stochastic dynamics of the \emph{consensus + innovations} form, which arise as a result of the proposed interactive distributed scheme, are of independent interest.

In this work we investigate the systems that implements algorithms for the planning problem in Artificial Intelligence, called planners, with especial attention to the planners based on the plan graph. We analyze the problem of comparing the performance of the different algorithms and we propose an environment for the development and analysis of planners.

Large-scale, parallel clusters composed of commodity processors are increasingly available, enabling the use of vast processing capabilities and distributed RAM to solve hard search problems. We investigate Hash-Distributed A* (HDA*), a simple approach to parallel best-first search that asynchronously distributes and schedules work among processors based on a hash function of the search state. We use this approach to parallelize the A* algorithm in an optimal sequential version of the Fast Downward planner, as well as a 24-puzzle solver. The scaling behavior of HDA* is evaluated experimentally on a shared memory, multicore machine with 8 cores, a cluster of commodity machines using up to 64 cores, and large-scale high-performance clusters, using up to 2400 processors. We show that this approach scales well, allowing the effective utilization of large amounts of distributed memory to optimally solve problems which require terabytes of RAM. We also compare HDA* to Transposition-table Driven Scheduling (TDS), a hash-based parallelization of IDA*, and show that, in planning, HDA* significantly outperforms TDS. A simple hybrid which combines HDA* and TDS to exploit strengths of both algorithms is proposed and evaluated.

Artificial bee colony (ABC), an optimization algorithm is a recent addition to the family of population based search algorithm. ABC has taken its inspiration from the collective intelligent foraging behavior of honey bees. In this study we have incorporated golden section search mechanism in the structure of basic ABC to improve the global convergence and prevent to stick on a local solution. The proposed variant is termed as ILS-ABC. Comparative numerical results with the state-of-art algorithms show the performance of the proposal when applied to the set of unconstrained engineering design problems. The simulated results show that the proposed variant can be successfully applied to solve real life problems.

Information mapping is a popular application of Multivoxel Pattern Analysis (MVPA) to fMRI. Information maps are constructed using the so called searchlight method, where the spherical multivoxel neighborhood of every voxel (i.e., a searchlight) in the brain is evaluated for the presence of task-relevant response patterns. One such challenge has to do with inferring the size and shape of a multivoxel pattern from its signature on the information map. To address this issue, we formally examined the geometric basis of this mapping relationship. Based on geometric considerations, we show how and why small patterns (i.e., having smaller spatial extents) can produce a larger signature on the information map as compared to large patterns, independent of the size of the searchlight radius. Furthermore, we show that the number of informative searchlights over the brain increase as a function of searchlight radius, even in the complete absence of any multivariate response patterns. These properties are unrelated to the statistical capabilities of the pattern-analysis algorithms used but are obligatory geometric properties arising from using the searchlight procedure.

Rough set theory is a useful tool to deal with uncertain, granular and incomplete knowledge in information systems. And it is based on equivalence relations or partitions. Matroid theory is a structure that generalizes linear independence in vector spaces, and has a variety of applications in many fields. In this paper, we propose a new type of matroids, namely, partition-circuit matroids, which are induced by partitions. Firstly, a partition satisfies circuit axioms in matroid theory, then it can induce a matroid which is called a partition-circuit matroid. A partition and an equivalence relation on the same universe are one-to-one corresponding, then some characteristics of partition-circuit matroids are studied through rough sets. Secondly, similar to the upper approximation number which is proposed by Wang and Zhu, we define the lower approximation number. Some characteristics of partition-circuit matroids and the dual matroids of them are investigated through the lower approximation number and the upper approximation number. Keywords: Rough set; Matroid; Partition-circuit matroid; Lower approximation number; Upper approximation number.

We address the problem of general supervised learning when data can only be accessed through an (indefinite) similarity function between data points. Existing work on learning with indefinite kernels has concentrated solely on binary/multi-class classification problems. We propose a model that is generic enough to handle any supervised learning task and also subsumes the model previously proposed for classification. We give a "goodness" criterion for similarity functions w.r.t. a given supervised learning task and then adapt a well-known landmarking technique to provide efficient algorithms for supervised learning using "good" similarity functions. We demonstrate the effectiveness of our model on three important super-vised learning problems: a) real-valued regression, b) ordinal regression and c) ranking where we show that our method guarantees bounded generalization error. Furthermore, for the case of real-valued regression, we give a natural goodness definition that, when used in conjunction with a recent result in sparse vector recovery, guarantees a sparse predictor with bounded generalization error. Finally, we report results of our learning algorithms on regression and ordinal regression tasks using non-PSD similarity functions and demonstrate the effectiveness of our algorithms, especially that of the sparse landmark selection algorithm that achieves significantly higher accuracies than the baseline methods while offering reduced computational costs.