Simultaneous Localization and Mapping (SLAM) presents a formidable challenge in robotics, involving the dynamic construction of a map while concurrently determining the precise location of the robotic agent within an unfamiliar environment. This intricate task is further compounded by the inherent "chicken-and-egg" dilemma, where accurate mapping relies on a dependable estimation of the robot's location, and vice versa. Moreover, the computational intensity of SLAM adds an additional layer of complexity, making it a crucial yet demanding topic in the field. In our research, we address the challenges of SLAM by adopting the Particle Filter SLAM method. Our approach leverages encoded data and fiber optic gyro (FOG) information to enable precise estimation of vehicle motion, while lidar technology contributes to environmental perception by providing detailed insights into surrounding obstacles. The integration of these data streams culminates in the establishment of a Particle Filter SLAM framework, representing a key endeavor in this paper to effectively navigate and overcome the complexities associated with simultaneous localization and mapping in robotic systems.

The US Census Bureau has collected two rounds of experimental data from the Commodity Flow Survey, providing shipment-level characteristics of nationwide commodity movements, published in 2012 (i.e., Public Use Microdata) and in 2017 (i.e., Public Use File). With this information, data-driven methods have become increasingly valuable for understanding detailed patterns in freight logistics. In this study, we used the 2017 Commodity Flow Survey Public Use File data set to explore building a high-performance freight mode choice model, considering three main improvements: (1) constructing local models for each separate commodity/industry category; (2) extracting useful geographical features, particularly the derived distance of each freight mode between origin/destination zones; and (3) applying additional ensemble learning methods such as stacking or voting to combine results from local and unified models for improved performance. The proposed method achieved over 92% accuracy without incorporating external information, an over 19% increase compared to directly fitting Random Forests models over 10,000 samples. Furthermore, SHAP (Shapely Additive Explanations) values were computed to explain the outputs and major patterns obtained from the proposed model. The model framework could enhance the performance and interpretability of existing freight mode choice models.

We present a novel statistical approach to incorporating uncertainty awareness in model-free distributional reinforcement learning involving quantile regression-based deep Q networks. The proposed algorithm, $\textit{Calibrated Evidential Quantile Regression in Deep Q Networks (CEQR-DQN)}$, aims to address key challenges associated with separately estimating aleatoric and epistemic uncertainty in stochastic environments. It combines deep evidential learning with quantile calibration based on principles of conformal inference to provide explicit, sample-free computations of $\textit{global}$ uncertainty as opposed to $\textit{local}$ estimates based on simple variance, overcoming limitations of traditional methods in computational and statistical efficiency and handling of out-of-distribution (OOD) observations. Tested on a suite of miniaturized Atari games (i.e., MinAtar), CEQR-DQN is shown to surpass similar existing frameworks in scores and learning speed. Its ability to rigorously evaluate uncertainty improves exploration strategies and can serve as a blueprint for other algorithms requiring uncertainty awareness.

Wildfire prediction has become increasingly crucial due to the escalating impacts of climate change. Traditional CNN-based wildfire prediction models struggle with handling missing oceanic data and addressing the long-range dependencies across distant regions in meteorological data. In this paper, we introduce an innovative Graph Neural Network (GNN)-based model for global wildfire prediction. We propose a hybrid model that combines the spatial prowess of Graph Convolutional Networks (GCNs) with the temporal depth of Long Short-Term Memory (LSTM) networks. Our approach uniquely transforms global climate and wildfire data into a graph representation, addressing challenges such as null oceanic data locations and long-range dependencies inherent in traditional models. Benchmarking against established architectures using an unseen ensemble of JULES-INFERNO simulations, our model demonstrates superior predictive accuracy. Furthermore, we emphasise the model's explainability, unveiling potential wildfire correlation clusters through community detection and elucidating feature importance via Integrated Gradient analysis. Our findings not only advance the methodological domain of wildfire prediction but also underscore the importance of model transparency, offering valuable insights for stakeholders in wildfire management.

These equations are derived from fundamental principles and mechanistic laws, such as the physical laws in thermodynamics and transport phenomena. High-fidelity models with these equations can serve as digital representations of the physical systems in the real world. However, the physically accurate representation is accompanied by a heightened mathematical complexity that elevates the computational expense of simulation. This impedes the use of high-fidelity physical models especially in applications where it is essential to simulate a system repeatedly in a timely manner. To efficiently generate simulation outputs, data-driven approaches have sought to substitute a high-fidelity physical model with a surrogate model (Misener and Biegler, 2023; Bhosekar and Ierapetritou, 2018; Bradley et al., 2022; Williams and Cremaschi, 2021), A surrogate model stands for a reducedorder model that aims for a computationally efficient approximation at the cost of a certain level of accuracy. This approach provides a more practical means of inferring a system's responses under a great variety of conditions.

However, a decision-makers often take identical actions in limitation of CP is that the prediction intervals provide valid contexts with identical predicted outcomes. Conformal coverage only marginally, averaged across all possible contexts prediction helps decision-makers quantify - where'context' refers to the information available for outcome uncertainty for actions, allowing for better decision-making. Thus, for a specific context, CP intervals risk management. Inspired by this perspective, may not accurately capture the true outcome variability, leading we introduce self-consistent conformal prediction, to unreliable and potentially harmful decision-making which yields both Venn-Abers calibrated predictions (van Calster et al., 2019; Lloyd-Jones et al., 2019).

Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control authority. Prior work on controlling these aircraft either requires separate controllers and switching modes for different vehicle configurations or performs the control allocation on separate actuator sets, which cannot fully use the potential of the redundancy of tiltrotor. This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way. The incorporation of four independently controllable rotors in VTOL design offers an extra level of redundancy, allowing the VTOL to accommodate actuator failures. The result shows that our approach outperforms PID controllers while maintaining unified control. It allows the VTOL to perform smooth acceleration/deceleration, and precise coordinated turns. In addition, the independently controlled tilts enable the vehicle to handle actuator failures, ensuring that the aircraft remains operational even in the event of a servo or motor malfunction.

The fact that accurately predicted information can serve as an energy source paves the way for new approaches to autonomous learning. The energy derived from a sequence of successful predictions can be recycled as an immediate incentive and resource, driving the enhancement of predictive capabilities in AI agents. We propose that, through a series of straightforward meta-architectural adjustments, any unsupervised learning apparatus could achieve complete independence from external energy sources, evolving into a self-sustaining physical system with a strong intrinsic 'drive' for continual learning. This concept, while still purely theoretical, is exemplified through the autoencoder, a quintessential model for unsupervised efficient coding. We use this model to demonstrate how progressive paradigm shifts can profoundly alter our comprehension of learning and intelligence. By reconceptualizing learning as an energy-seeking process, we highlight the potential for achieving true autonomy in learning systems, thereby bridging the gap between algorithmic concepts and physical models of intelligence.

Predictive models make mistakes. Hence, there is a need to quantify the uncertainty associated with their predictions. Conformal inference has emerged as a powerful tool to create statistically valid prediction regions around point predictions, but its naive application to regression problems yields non-adaptive regions. New conformal scores, often relying upon quantile regressors or conditional density estimators, aim to address this limitation. Although they are useful for creating prediction bands, these scores are detached from the original goal of quantifying the uncertainty around an arbitrary predictive model. This paper presents a new, model-agnostic family of methods to calibrate prediction intervals for regression problems with local coverage guarantees. Our approach is based on pursuing the coarsest partition of the feature space that approximates conditional coverage. We create this partition by training regression trees and Random Forests on conformity scores. Our proposal is versatile, as it applies to various conformity scores and prediction settings and demonstrates superior scalability and performance compared to established baselines in simulated and real-world datasets. We provide a Python package locart that implements our methods using the standard scikit-learn interface.

In this paper, we address the challenge of learning with limited fault data for power transformers. Traditional operation and maintenance tools lack effective predictive capabilities for potential faults. The scarcity of extensive fault data makes it difficult to apply machine learning techniques effectively. To solve this problem, we propose a novel approach that leverages the knowledge graph (KG) technology in combination with gradient boosting decision trees (GBDT). This method is designed to efficiently learn from a small set of high-dimensional data, integrating various factors influencing transformer faults and historical operational data. Our approach enables accurate safe state assessments and fault analyses of power transformers despite the limited fault characteristic data. Experimental results demonstrate that this method outperforms other learning approaches in prediction accuracy, such as artificial neural networks (ANN) and logistic regression (LR). Furthermore, it offers significant improvements in progressiveness, practicality, and potential for widespread application.