One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation.

Spiking Neural Networks (SNNs) can offer ultra low power/ energy consumption for machine learning-based applications due to their sparse spike-based operations. Currently, most of the SNN architectures need a significantly larger model size to achieve higher accuracy, which is not suitable for resource-constrained embedded applications. Therefore, developing SNNs that can achieve high accuracy with acceptable memory footprint is highly needed. Toward this, we propose a novel methodology that improves the accuracy of SNNs through kernel size scaling. Its key steps include investigating the impact of different kernel sizes on the accuracy, devising new sets of kernel sizes, generating SNN architectures based on the selected kernel sizes, and analyzing the accuracy-memory trade-offs for SNN model selection. The experimental results show that our methodology achieves higher accuracy than state-of-the-art (93.24% accuracy for CIFAR10 and 70.84% accuracy for CIFAR100) with less than 10M parameters and up to 3.45x speed-up of searching time, thereby making it suitable for embedded applications.

The evolution of AI is advancing rapidly, creating both challenges and opportunities for industry-community collaboration. In this work, we present a novel methodology aiming to facilitate this collaboration through crowdsourcing of AI models. Concretely, we have implemented a system and a process that any organization can easily adopt to host AI competitions. The system allows them to automatically harvest and evaluate the submitted models against in-house proprietary data and also to incorporate them as reusable services in a product.

Causal graphs, such as directed acyclic graphs (DAGs) and partial ancestral graphs (PAGs), represent causal relationships among variables in a model. Methods exist for learning DAGs and PAGs from data and for converting DAGs to PAGs. However, these methods only output a single causal graph consistent with the independencies/dependencies (the Markov equivalence class M) estimated from the data. However, many distinct graphs may be consistent with M, and a data modeler may wish to select among these using domain knowledge. In this paper, we present a method that makes this possible. We introduce PAG2ADMG, the first method for enumerating all causal graphs consistent with M, under certain assumptions. PAG2ADMG converts a given PAG into a set of acyclic directed mixed graphs (ADMGs). We prove the correctness of the approach and demonstrate its efficiency relative to brute-force enumeration.

Probabilistic reasoning under the so-called principle of maximum entropy is a viable and convenient alternative to Bayesian networks, relieving the user from providing complete (local) probabilistic information and observing rigorous conditional independence assumptions. In this paper, we present a novel approach to performing computational MaxEnt reasoning that makes use of symbolic computations instead of graph-based techniques. Given a probabilistic knowledge base, we encode the MaxEnt optimization problem into a system of polynomial equations, and then apply Gröbner basis theory to find MaxEnt inferences as solutions to the polynomials. We illustrate our approach with an example of a knowledge base that represents findings on fraud detection in enterprises.