In the event of an earthquake or fire, search and rescue efforts may be delayed until it is safe for a human team to enter the area. A team of robots could enter in advance to provide maps, images and locations of interest to the human team, allowing them to prepare their approach when they can enter. In a disaster area, communication may also be limited. We have developed a set of distributed algorithms that make use of a small number of robots to fully explore an unknown environment even with restrictions on communication, team size, and available sensors. We show, through proofs and experiments, that the algorithm will allow the team of robots to fully explore the environment and maintain the necessary communication to return the information to the search and rescue team waiting outside.

Within the field of Artificial Intelligence (AI) research, Vote (STV) select winners from sets of ballot. For example, the subfield of Computational Social Choice considers under plurality candidate X has won this election by virtue the application of AI techniques to problems in Social of having being at the top of the largest number of ballots. Under STV Y would win instead. Starting in the early 1990's, computer scientists began to In this work, we model voters as having partial orderings take an interest in social choice. Initial work was concerned over the candidates for their preferences, instead of linear with circumventing the impossibility results implied orderings.

A major challenge in artificial intelligence is building intelligent, interactive learning environments that can support students in human-like ways. Analogical reasoning can be a catalyst for conceptual learning, yet very few systems support analogical reasoning as an instructional activity. In my thesis, I plan to demonstrate that an analogy tutor can assist conceptual learning by guiding students through instructional comparisons.

This thesis seeks to address word reasoning problems from a semantic standpoint, proposing a uniform approach for generating solutions while also providing human-understandable explanations. Current state of the art solvers of semantic problems rely on traditional machine learning methods. Therefore their results are not easily reusable by algorithms or interpretable by humans. We propose leveraging web-scale knowledge graphs to determine a semantic frame of interpretation. Semantic knowledge graphs are graphs in which nodes represent concepts and the edges represent the relations between them. Our approach has the following advantages: (1) it reduces the space in which the problem is to be solved; (2) sparse and noisy data can be used without relying only on the relations deducible from the data itself; (3) the output of the inference algorithm is supported by an interpretable justification. We demonstrate our approach in two domains: (1) Topic Modeling: We form topics using connectivity in semantic graphs. We use the same topic models for two very different recommendation systems, one designed for high noise interactive applications and the other for large amounts of web data. (2) Analogy Solving: For humans, analogies are a fundamental reasoning pattern, which relies on abstraction and comparative analysis. In order for an analogy to be understood, precise relations have to be identified and mapped. We introduce graph algorithms to assess the analogy strength in contexts derived from the analogy words. We demonstrate our approach by solving standardized test analogy question.

The health care literature argues compellingly that teamwork Figure 1: The care team for children with complex conditions. is of increasing importance to health care delivery, and improved care coordination is essential to improving patient safety and health. The lack of effective mechanisms to support health care providers in coordinating care is a major 1997), often base their communication mechanisms on theories deficiency of current health care systems (Leape 2012). My of teamwork and collaboration (Grosz and Kraus 1996; thesis aims to develop agents that support the coordination Cohen and Levesque 1990; Sonenberg et al. 1992). These of teams caring for children with complex conditions (Amir approaches, however, typically do not reason about uncertainty et al. 2013).

We investigate weakly-supervised image parsing, i.e., assigning class labels to image regions by using image-level labels only. Existing studies pay main attention to the formulation of the weakly-supervised learning problem, i.e., how to propagate class labels from images to regions given an affinity graph of regions. Notably, however, the affinity graph of regions, which is generally constructed in relatively simpler settings in existing methods, is of crucial importance to the parsing performance due to the fact that the weakly-supervised parsing problem cannot be solved within a single image, and that the affinity graph enables label propagation among multiple images. In order to embed more semantics into the affinity graph, we propose novel criteria by exploiting the weak supervision information carefully, and develop two graphs: L1 semantic graph and k-NN semantic graph. Experimental results demonstrate that the proposed semantic graphs not only capture more semantic relevance, but also perform significantly better than conventional graphs in image parsing.

Video completion is a computer vision technique to recover the missing values in video sequences by filling the unknown regions with the known information. In recent research, tensor completion, a generalization of matrix completion for higher order data, emerges as a new solution to estimate the missing information in video with the assumption that the video frames are homogenous and correlated. However, each video clip often stores the heterogeneous episodes and the correlations among all video frames are not high. Thus, the regular tenor completion methods are not suitable to recover the video missing values in practical applications. To solve this problem, we propose a novel spatially-temporally consistent tensor completion method for recovering the video missing data. Instead of minimizing the average of the trace norms of all matrices unfolded along each mode of a tensor data, we introduce a new smoothness regularization along video time direction to utilize the temporal information between consecutive video frames. Meanwhile, we also minimize the trace norm of each individual video frame to employ the spatial correlations among pixels. Different to previous tensor completion approaches, our new method can keep the spatio-temporal consistency in video and do not assume the global correlation in video frames. Thus, the proposed method can be applied to the general and practical video completion applications. Our method shows promising results in all evaluations on both 3D biomedical image sequence and video benchmark data sets.

In this paper we introduce new types of square-piece jigsaw puzzles, where in addition to the unknown location and orientation of each piece, a piece might also need to be flipped. These puzzles, which are associated with a number of real world problems, are considerably harder, from a computational standpoint. Specifically, we present a novel generalized genetic algorithm (GA)-based solver that can handle puzzle pieces of unknown location and orientation (Type 2 puzzles) and (two-sided) puzzle pieces of unknown location, orientation, and face (Type 4 puzzles). To the best of our knowledge, our solver provides a new state-of-the-art, solving previously attempted puzzles faster and far more accurately, handling puzzle sizes that have never been attempted before, and assembling the newly introduced two-sided puzzles automatically and effectively. This paper also presents, among other results, the most extensive set of experimental results, compiled as of yet, on Type 2 puzzles.

We present an algorithm for identity verification using only information from the hair. Face recognition in the wild (i.e., unconstrained settings) is highly useful in a variety of applications, but performance suffers due to many factors, e.g., obscured face, lighting variation, extreme pose angle, and expression. It is well known that humans utilize hair for identification under many of these scenarios due to either the consistent hair appearance of the same subject or obvious hair discrepancy of different subjects, but little work exists to replicate this intelligence artificially. We propose a learned hair matcher using shape, color, and texture features derived from localized patches through an AdaBoost technique with abstaining weak classifiers when features are not present in the given location. The proposed hair matcher achieves 71.53% accuracy on the LFW View 2 dataset. Hair also reduces the error of a Commercial Off-The-Shelf (COTS) face matcher through simple score-level fusion by 5.7%.

We examine how to use emerging far-infrared imager ensembles to detect certain objects of interest (e.g., faces, hands, people and animals) in synchronized RGB video streams at very low power. We formulate the problem as one of selecting subsets of sensing elements (among many thousand possibilities) from the ensembles for tests. The subset selection problem is naturally adaptive and online: testing certain elements early can obviate the need for testing many others later, and selection policies must be updated at inference time. We pose the ensemble sensor selection problem as a structured extension of test-cost-sensitive classification, propose a principled suite of techniques to exploit ensemble structure to speed up processing and show how to re-estimate policies fast. We estimate reductions in power consumption of roughly 50x relative to even highly optimized implementations of face detection, a canonical object-detection problem. We also illustrate the benefits of adaptivity and online estimation.