A submarine's sonar team is responsible for detecting, localising and classifying targets using information provided by the platform's sensor suite. The information used to make these assessments is typically uncertain and/or incomplete and is likely to require a measure of confidence in its reliability. Moreover, improvements in sensor and communication technology are resulting in increased amounts of on-platform and off-platform information available for evaluation. This proliferation of imprecise information increases the risk of overwhelming the operator. To assist the task of localisation and classification a concept demonstration decision aid (Horizon), based on evidential reasoning, has been developed. Horizon is an information fusion software package for representing and fusing imprecise information about the state of the world, expressed across suitable frames of reference. The Horizon software is currently at prototype stage.

In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the robots show different behaviours and cooperate by transferring each other the perceived environment when they meet. The returning robots deliver to a host computer their partial maps and the host incrementally generates the map of the environment by means of apossibility/ necessity grid.

This paper introduces a computational framework for reasoning in Bayesian belief networks that derives significant advantages from focused inference and relevance reasoning. This framework is based on d -separation and other simple and computationally efficient techniques for pruning irrelevant parts of a network. Our main contribution is a technique that we call relevance-based decomposition. Relevance-based decomposition approaches belief updating in large networks by focusing on their parts and decomposing them into partially overlapping subnetworks. This makes reasoning in some intractable networks possible and, in addition, often results in significant speedup, as the total time taken to update all subnetworks is in practice often considerably less than the time taken to update the network as a whole. We report results of empirical tests that demonstrate practical significance of our approach.

In most current applications of belief networks, domain knowledge is represented by a single belief network that applies to all problem instances in the domain. In more complex domains, problem-specific models must be constructed from a knowledge base encoding probabilistic relationships in the domain. Most work in knowledge-based model construction takes the rule as the basic unit of knowledge. We present a knowledge representation framework that permits the knowledge base designer to specify knowledge in larger semantically meaningful units which we call network fragments. Our framework provides for representation of asymmetric independence and canonical intercausal interaction. We discuss the combination of network fragments to form problem-specific models to reason about particular problem instances. The framework is illustrated using examples from the domain of military situation awareness.

Bayesian networks provide a modeling language and associated inference algorithm for stochastic domains. They have been successfully applied in a variety of medium-scale applications. However, when faced with a large complex domain, the task of modeling using Bayesian networks begins to resemble the task of programming using logical circuits. In this paper, we describe an object-oriented Bayesian network (OOBN) language, which allows complex domains to be described in terms of inter-related objects. We use a Bayesian network fragment to describe the probabilistic relations between the attributes of an object. These attributes can themselves be objects, providing a natural framework for encoding part-of hierarchies. Classes are used to provide a reusable probabilistic model which can be applied to multiple similar objects. Classes also support inheritance of model fragments from a class to a subclass, allowing the common aspects of related classes to be defined only once. Our language has clear declarative semantics: an OOBN can be interpreted as a stochastic functional program, so that it uniquely specifies a probabilistic model. We provide an inference algorithm for OOBNs, and show that much of the structural information encoded by an OOBN--particularly the encapsulation of variables within an object and the reuse of model fragments in different contexts--can also be used to speed up the inference process.

The efficiency of inference in both the Hugin and, most notably, the Shafer-Shenoy architectures can be improved by exploiting the independence relations induced by the incoming messages of a clique. That is, the message to be sent from a clique can be computed via a factorization of the clique potential in the form of a junction tree. In this paper we show that by exploiting such nested junction trees in the computation of messages both space and time costs of the conventional propagation methods may be reduced. The paper presents a structured way of exploiting the nested junction trees technique to achieve such reductions. The usefulness of the method is emphasized through a thorough empirical evaluation involving ten large real-world Bayesian networks and the Hugin inference algorithm.

Decomposable models and Bayesian networks can be defined as sequences of oligo-dimensional probability measures connected with operators of composition. The preliminary results suggest that the probabilistic models allowing for effective computational procedures are represented by sequences possessing a special property; we shall call them perfect sequences. The paper lays down the elementary foundation necessary for further study of iterative application of operators of composition. We believe to develop a technique describing several graph models in a unifying way. We are convinced that practically all theoretical results and procedures connected with decomposable models and Bayesian networks can be translated into the terminology introduced in this paper. For example, complexity of computational procedures in these models is closely dependent on possibility to change the ordering of oligo-dimensional measures defining the model. Therefore, in this paper, lot of attention is paid to possibility to change ordering of the operators of composition.

A new method is developed to represent probabilistic relations on multiple random events. Where previously knowledge bases containing probabilistic rules were used for this purpose, here a probability distribution over the relations is directly represented by a Bayesian network. By using a powerful way of specifying conditional probability distributions in these networks, the resulting formalism is more expressive than the previous ones. Particularly, it provides for constraints on equalities of events, and it allows to define complex, nested combination functions.

A pseudo independent (PI) model is a probabilistic domain model (PDM) where proper subsets of a set of collectively dependent variables display marginal independence. PI models cannot be learned correctly by many algorithms that rely on a single link search. Earlier work on learning PI models has suggested a straightforward multi-link search algorithm. However, when a domain contains recursively embedded PI submodels, it may escape the detection of such an algorithm. In this paper, we propose an improved algorithm that ensures the learning of all embedded PI submodels whose sizes are upper bounded by a predetermined parameter. We show that this improved learning capability only increases the complexity slightly beyond that of the previous algorithm. The performance of the new algorithm is demonstrated through experiment.

We review the problem of time-critical action and discuss a reformulation that shifts knowledge acquisition from the assessment of complex temporal probabilistic dependencies to the direct assessment of time-dependent utilities over key outcomes of interest. We dwell on a class of decision problems characterized by the centrality of diagnosing and reacting in a timely manner to pathological processes. We motivate key ideas in the context of trauma-care triage and transportation decisions.