This paper presents a novel recursive maximum a posteriori update for the Kalman formulation of undelayed bearing-only SLAM. The estimation update step is cast as an optimization problem for which we can prove the global minimum is reachable via a bidirectional search using Gauss-Newton's method along a one-dimensional manifold. While the filter is designed for mapping just one landmark, it is easily extended to full-scale multiple-landmark SLAM. We provide this extension via a formulation of bearing-only FastSLAM. With experiments, we demonstrate accurate and convergent estimation in situations where an EKF solution would diverge.

As autonomous agents proliferate in the real world, both in software and robotic settings, they will increasingly need to band together for cooperative activities with previously unfamiliar teammates. In such ad hoc team settings, team strategies cannot be developed a priori. Rather, an agent must be prepared to cooperate with many types of teammates: it must collaborate without pre-coordination. This paper challenges the AI community to develop theory and to implement prototypes of ad hoc team agents. It defines the concept of ad hoc team agents, specifies an evaluation paradigm, and provides examples of possible theoretical and empirical approaches to challenge. The goal is to encourage progress towards this ambitious, newly realistic, and increasingly important research goal.

Network management is a complex task involving various challenges, such as the heterogeneity of the infrastructure or the information flood caused by billions of log messages from different systems and operated by different organiza- tional units. All of these messages and systems may contain information relevant to other operational units. For example, in order to ensure reliable DSL connections for IPTV cus- tomers, optimal customer traffic path assignments for the current network state and traffic demands need to be evalu- ated. Currently reassignments are only manually performed during routine maintenance or as a response to reported problems. In this paper we present a decision support sys- tem for this task. In addition, the system predicts future pos- sible demands and allows reconfigurations of a DSL access network before congestions may occur.

To meet the growing demands of the National Airspace System (NAS) stakeholders and provide the level of service, safety and security needed to sustain future air transport, the Next Generation Air Transportation System (NextGen) concept calls for technologies and systems offering increasing support from automated systems that provide decision-aiding and optimization capabilities. This is an exciting application for some core aspects of Artificial Intelligence research since the automation must be designed to enable the human operators to access and process a myriad of information sources, understand heightened system complexity, and maximize capacity, throughput and fuel savings in the NAS.. This paper introduces an emerging application of techniques from mixed initiative (adjustable autonomy), multi-agent systems, and task scheduling techniques to the air traffic control domain. Consequently, we have created a testbed for investigating the critical challenges in supporting the early design of systems that allow for optimal, context-sensitive function (role) allocation between air traffic controller and automated agents. A pilot study has been conducted with the testbed and preliminary results show a marked qualitative improvement in using dynamic function allocation optimization versus static function allocation.

Constructing models of mobile agents can be difficult without domain-specific knowledge. Parametric models flexible enough to capture all mobility patterns that an expert believes are possible are often large, requiring a great deal of training data. In contrast, nonparametric models are extremely flexible and can generalize well with relatively little training data. We propose modeling the mobility patterns of moving agents as a mixture of Gaussian processes (GP) with a Dirichlet process (DP) prior over mixture weights. The GP provides a flexible representation for each individual mobility pattern, while the DP assigns observed trajectories to particular mobility patterns. Both the GPs and the DP adjust the model's complexity based on available data, implicitly avoiding issues of over-fitting or under-fitting. We apply our model to a helicopter-based tracking task, where the mobility patterns of the tracked agents — cars — are learned from real data collected from taxis in the greater Boston area.

A number of algorithms have been proposed for the Minimum Vertex Cover problem. However, they are far from satisfactory, especially on hard instances. In this paper, we introduce Edge Weighting Local Search (EWLS), a new local search algorithm for the Minimum Vertex Cover problem. EWLS is based on the idea of extending a partial vertex cover into a vertex cover. A key point of EWLS is to find a vertex set that provides a tight upper bound on the size of the minimum vertex cover. To this purpose, EWLS employs an iterated local search procedure, using an edge weighting scheme which updates edge weights when stuck in local optima. Moreover, some sophisticated search strategies have been taken to improve the quality of local optima. Experimental results on the broadly used DIMACS benchmark show that EWLS is competitive with the current best heuristic algorithms, and outperforms them on hard instances. Furthermore, on a suite of difficult benchmarks, EWLS delivers the best results and sets a new record on the largest instance.

With the increasing popularity of location tracking services such as GPS, more and more mobile data are being accumulated. Based on such data, a potentially useful service is to make timely and targeted recommendations for users on places where they might be interested to go and activities that they are likely to conduct. For example, a user arriving in Beijing might wonder where to visit and what she can do around the Forbidden City. A key challenge for such recommendation problems is that the data we have on each individual user might be very limited, while to make useful and accurate recommendations, we need extensive annotated location and activity information from user trace data. In this paper, we present a new approach, known as user-centered collaborative location and activity filtering (UCLAF), to pull many users’ data together and apply collaborative filtering to find like-minded users and like-patterned activities at different locations. We model the userlocation- activity relations with a tensor representation, and propose a regularized tensor and matrix decomposition solution which can better address the sparse data problem in mobile information retrieval. We empirically evaluate UCLAF using a real-world GPS dataset collected from 164 users over 2.5 years, and showed that our system can outperform several state-of-the-art solutions to the problem.

We describe a method for identifying the speakers of quoted speech in natural-language textual stories. We have assembled a corpus of more than 3,000 quotations, whose speakers (if any) are manually identified, from a collection of 19th and 20th century literature by six authors. Using rule-based and statistical learning, our method identifies candidate characters, determines their genders, and attributes each quote to the most likely speaker. We divide the quotes into syntactic classes in order to leverage common discourse patterns, which enable rapid attribution for many quotes. We apply learning algorithms to the remainder and achieve an overall accuracy of 83%.

We consider the problem of incorporating end-user advice into reinforcement learning (RL). In our setting, the learner alternates between practicing, where learning is based on actual world experience, and end-user critique sessions where advice is gathered. During each critique session the end-user is allowed to analyze a trajectory of the current policy and then label an arbitrary subset of the available actions as good or bad. Our main contribution is an approach for integrating all of the information gathered during practice and critiques in order to effectively optimize a parametric policy. The approach optimizes a loss function that linearly combines losses measured against the world experience and the critique data. We evaluate our approach using a prototype system for teaching tactical battle behavior in a real-time strategy game engine. Results are given for a significant evaluation involving ten end-users showing the promise of this approach and also highlighting challenges involved in inserting end-users into the RL loop.

As the Internet-based crowdsourcing services become more and more popular, learning from multiple teachers or sources has received more attention of the researchers in the machine learning area. In this setting, the learning system is dealing with samples and labels provided by multiple teachers, who in common cases, are non-expert. Their labeling styles and behaviors are usually diverse, some of which are even detrimental to the learning system. Thus, simply putting them together and utilizing the algorithms designed for single-teacher scenario would be not only improper, but also damaging. The problem calls for more specific methods. Our work focuses on a case where the teachers are composed of good ones and irresponsible ones. By irresponsible, we mean the teacher who takes the labeling task not seriously and label the sample at random without inspecting the sample itself. This behavior is quite common when the task is not attractive enough and the teacher just wants to finish it as soon as possible. Sometimes, the irresponsible teachers could take a considerable part among all the teachers. If we do not take out their effects, our learning system would be ruined with no doubt. In this paper, we propose a method for picking out the good teachers with promising experimental results. It works even when the irresponsible teachers are dominating in numbers.