Automated Planning is one of the main research field of Artificial Intelligence since its beginnings. Research in Automated Planning aims at developing general reasoners (i.e., planners) capable of automatically solve complex problems. Broadly speaking, planners rely on a general model characterizing the possible states of the world and the actions that can be performed in order to change the status of the world. Given a model and an initial known state, the objective of a planner is to synthesize a set of actions needed to achieve a particular goal state. The classical approach to planning roughly corresponds to the description given above. The timeline-based approach is a particular planning paradigm capable of integrating causal and temporal reasoning within a unified solving process. This approach has been successfully applied in many real-world scenarios although a common interpretation of the related planning concepts is missing. Indeed, there are significant differences among the existing frameworks that apply this technique. Each framework relies on its own interpretation of timeline-based planning and therefore it is not easy to compare these systems. Thus, the objective of this work is to investigate the timeline-based approach to planning by addressing several aspects ranging from the semantics of the related planning concepts to the modeling and solving techniques. Specifically, the main contributions of this PhD work consist of: (i) the proposal of a formal characterization of the timeline-based approach capable of dealing with temporal uncertainty; (ii) the proposal of a hierarchical modeling and solving approach; (iii) the development of a general purpose framework for planning and execution with timelines; (iv) the validation{\dag}of this approach in real-world manufacturing scenarios.

Simulating complex physical systems often involves solving partial differential equations (PDEs) with some closures due to the presence of multi-scale physics that cannot be fully resolved. Therefore, reliable and accurate closure models for unresolved physics remains an important requirement for many computational physics problems, e.g., turbulence simulation. Recently, several researchers have adopted generative adversarial networks (GANs), a novel paradigm of training machine learning models, to generate solutions of PDEs-governed complex systems without having to numerically solve these PDEs. However, GANs are known to be difficult in training and likely to converge to local minima, where the generated samples do not capture the true statistics of the training data. In this work, we present a statistical constrained generative adversarial network by enforcing constraints of covariance from the training data, which results in an improved machine-learning-based emulator to capture the statistics of the training data generated by solving fully resolved PDEs. We show that such a statistical regularization leads to better performance compared to standard GANs, measured by (1) the constrained model's ability to more faithfully emulate certain physical properties of the system and (2) the significantly reduced (by up to 80%) training time to reach the solution. We exemplify this approach on the Rayleigh-Benard convection, a turbulent flow system that is an idealized model of the Earth's atmosphere. With the growth of high-fidelity simulation databases of physical systems, this work suggests great potential for being an alternative to the explicit modeling of closures or parameterizations for unresolved physics, which are known to be a major source of uncertainty in simulating multi-scale physical systems, e.g., turbulence or Earth's climate.

We argue that pushing is an essential motion primitive in a robot's manipulative repertoire. Consider, for instance, a household robot reaching for a bottle of milk located in the back of the fridge. Instead of picking up every yoghurt, egg carton, or jam jar obstructing the path to create space, the robot can use gentle pushes to create a corridor to its lactic target. Moving larger obstacles out of the way is even more important to mobile robots in environments as extreme as abandoned mines (Ferguson et al., 2004), the moon (King, 2016), or for rescue missions as for the Fukushima Daiichi Nuclear Power Plant. In order to save cost, space, or reduce payload, such robots are often not equipped with grippers, meaning that prehensile manipulation is not an option. Even in the presence of grippers, objects may be too large or too heavy to grasp. In addition to the considered scenarios, pushing has numerous beneficial applications that come to mind less easily. For instance, pushing is effective at manipulating objects under uncertainty (Brost, 1988; Dogar and Srinivasa, 2010), and for pre-grasp manipulation, allowing robots to bring objects into configurations where they can be easily grasped (King et al., 2013). Less existential, yet highly interesting and entertaining, dexterous pushing skills are also widely applied and applauded in robot soccer (Emery and Balch, 2001).

Deep learning using neural networks has provided advances in image style transfer, merging the content of one image (e.g., a photo) with the style of another (e.g., a painting). Our research shows this concept can be extended to analyse the design of streetscapes in relation to health and wellbeing outcomes. An Australian population health survey (n=34,000) was used to identify the spatial distribution of health and wellbeing outcomes, including general health and social capital. For each outcome, the most and least desirable locations formed two domains. Streetscape design was sampled using around 80,000 Google Street View images per domain. Generative adversarial networks translated these images from one domain to the other, preserving the main structure of the input image, but transforming the `style' from locations where self-reported health was bad to locations where it was good. These translations indicate that areas in Melbourne with good general health are characterised by sufficient green space and compactness of the urban environment, whilst streetscape imagery related to high social capital contained more and wider footpaths, fewer fences and more grass. Beyond identifying relationships, the method is a first step towards computer-generated design interventions that have the potential to improve population health and wellbeing.

Advances in computational science offer a principled pipeline for predictive modeling of cardiovascular flows and aspire to provide a valuable tool for monitoring, diagnostics and surgical planning. Such models can be nowadays deployed on large patient-specific topologies of systemic arterial networks and return detailed predictions on flow patterns, wall shear stresses, and pulse wave propagation. However, their success heavily relies on tedious pre-processing and calibration procedures that typically induce a significant computational cost, thus hampering their clinical applicability. In this work we put forth a machine learning framework that enables the seamless synthesis of non-invasive in-vivo measurement techniques and computational flow dynamics models derived from first physical principles. We illustrate this new paradigm by showing how one-dimensional models of pulsatile flow can be used to constrain the output of deep neural networks such that their predictions satisfy the conservation of mass and momentum principles. Once trained on noisy and scattered clinical data of flow and wall displacement, these networks can return physically consistent predictions for velocity, pressure and wall displacement pulse wave propagation, all without the need to employ conventional simulators. A simple post-processing of these outputs can also provide a cheap and effective way for estimating Windkessel model parameters that are required for the calibration of traditional computational models. The effectiveness of the proposed techniques is demonstrated through a series of prototype benchmarks, as well as a realistic clinical case involving in-vivo measurements near the aorta/carotid bifurcation of a healthy human subject.

The computational effort for the evaluation of numerical simulations based on e.g. the finite-element method is high. Metamodels can be utilized to create a low-cost alternative. However the number of required samples for the creation of a sufficient metamodel should be kept low, which can be achieved by using adaptive sampling techniques. In this Master thesis adaptive sampling techniques are investigated for their use in creating metamodels with the Kriging technique, which interpolates values by a Gaussian process governed by prior covariances. The Kriging framework with extension to multifidelity problems is presented and utilized to compare adaptive sampling techniques found in the literature for benchmark problems as well as applications for contact mechanics. This thesis offers the first comprehensive comparison of a large spectrum of adaptive techniques for the Kriging framework. Furthermore a multitude of adaptive techniques is introduced to multifidelity Kriging as well as well as to a Kriging model with reduced hyperparameter dimension called partial least squares Kriging. In addition, an innovative adaptive scheme for binary classification is presented and tested for identifying chaotic motion of a Duffing's type oscillator.

Today,insulated overhead conductors are increasingly used in many places of the world due to the higher operational reliability, elimination of phase-to-phase contact, closer distances between phases and stronger protection for animals. However, the standard protection devices are often not able to detect the conductor phase-to-ground fault and the more frequent tree/tree branch hitting conductor events as these events only lead to partial discharge (PD) activities instead of causing overcurrent seen on bare conductors. To solve this problem, in recent years, Technical University of Ostrava (VSB) devised a special meter to measure the voltage signal of the stray electrical field along the insulated overhead conductors, hoping to detect the above hazardous PD activities. In 2018, VSB published a large amount of waveform data recorded by their meter on Kaggle, the world's largest data science collaboration platform, looking for promising pattern recognition methods for this application. To tackle this challenge, we developed a unique method based on Seasonal and Trend decomposition using Loess (STL) and Support Vector Machine (SVM) to recognize PD activities on insulated overhead conductors. Different SVM kernels were tested and compared. Satisfactory classification rates on VSB dataset were achieved with the use of Gaussian radial basis kernel.

In order perform a large variety of tasks and to achieve human-level performance in complex real-world environments, Artificial Intelligence (AI) Agents must be able to learn from their past experiences and gain both knowledge and an accurate representation of their environment from raw sensory inputs. Traditionally, AI agents have suffered from difficulties in using only sensory inputs to obtain a good representation of their environment and then mapping this representation to an efficient control policy. Deep reinforcement learning algorithms have provided a solution to this issue. In this study, the performance of different conventional and novel deep reinforcement learning algorithms was analysed. The proposed method utilises two types of algorithms, one trained with a variant of Q-learning (DQN) and another trained with SARSA learning (DSN) to assess the feasibility of using direct feedback alignment, a novel biologically plausible method for back-propagating the error. These novel agents, alongside two similar agents trained with the conventional backpropagation algorithm, were tested by using the OpenAI Gym toolkit on several classic control theory problems and Atari 2600 video games. The results of this investigation open the way into new, biologically-inspired deep reinforcement learning algorithms, and their implementation on neuromorphic hardware.

Reinforcement learning (RL) is capable of managing wireless, energy-harvesting IoT nodes by solving the problem of autonomous management in non-stationary, resource-constrained settings. We show that the state-of-the-art policy-gradient approaches to RL are appropriate for the IoT domain and that they outperform previous approaches. Due to the ability to model continuous observation and action spaces, as well as improved function approximation capability, the new approaches are able to solve harder problems, permitting reward functions that are better aligned with the actual application goals. We show such a reward function and use policy-gradient approaches to learn capable policies, leading to behavior more appropriate for IoT nodes with less manual design effort, increasing the level of autonomy in IoT.

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control, robotic applications, one often encounters situations with non-stationary environments and in these scenarios, RL methods yield sub-optimal decisions. In this paper, we thus consider the problem of developing RL methods that obtain optimal decisions in a non-stationary environment. The goal of this problem is to maximize the long-term discounted reward achieved when the underlying model of the environment changes over time. To achieve this, we first adapt a change point algorithm to detect change in the statistics of the environment and then develop an RL algorithm that maximizes the long-run reward accrued. We illustrate that our change point method detects change in the model of the environment effectively and thus facilitates the RL algorithm in maximizing the long-run reward. We further validate the effectiveness of the proposed solution on non-stationary random Markov decision processes, a sensor energy management problem and a traffic signal control problem.