We introduce in this paper a novel strategy for efficiently approximating the Sinkhorn distance between twodiscrete measures.

Haptic feedback enhances collision avoidance by providing directional obstacle information to operators in unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar to UAV operators and limited to single-directional force feedback. Additionally, the direct coupling of the input device and the feedback method diminishes the operators' control authority and causes oscillatory movements. To overcome these limitations, we propose AeroHaptix, a wearable haptic feedback system that uses high-resolution vibrations to communicate multiple obstacle directions simultaneously. The vibrotactile actuators' layout was optimized based on a perceptual study to eliminate perceptual biases and achieve uniform spatial coverage. A novel rendering algorithm, MultiCBF, was adapted from control barrier functions to support multi-directional feedback. System evaluation showed that AeroHaptix effectively reduced collisions in complex environment, and operators reported significantly lower physical workload, improved situational awareness, and increased control authority.

An adaptive control approach for a three-phase grid-interfaced solar photovoltaic system based on the new Neuro-Fuzzy Inference System with Rain Optimization Algorithm (ANROA) methodology is proposed and discussed in this manuscript. This method incorporates an Adaptive Neuro-fuzzy Inference System (ANFIS) with a Rain Optimization Algorithm (ROA). The ANFIS controller has excellent maximum tracking capability because it includes features of both neural and fuzzy techniques. The ROA technique is in charge of controlling the voltage source converter switching. Avoiding power quality problems including voltage fluctuations, harmonics, and flickers as well as unbalanced loads and reactive power usage is the major goal. Besides, the proposed method performs at zero voltage regulation and unity power factor modes. The suggested control approach has been modeled and simulated, and its performance has been assessed using existing alternative methods. A statistical analysis of proposed and existing techniques has been also presented and discussed. The results of the simulations demonstrate that, when compared to alternative approaches, the suggested strategy may properly and effectively identify the best global solutions. Furthermore, the system's robustness has been studied by using MATLAB/SIMULINK environment and experimentally by Field Programmable Gate Arrays Controller (FPGA)-based Hardware-in-Loop (HLL).

Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both high-quality and high-efficiency reconstruction of 3D unknown objects. To tackle this challenge, we introduce a crucial hypothesis: with the availability of more information about the unknown object, the prediction quality of the SCVP network improves. There are two ways to provide extra information: (1) leveraging perception data obtained from NBVs, and (2) training on an expanded dataset of multiview inputs. In this work, we introduce a novel combined pipeline that incorporates a single NBV before activating the proposed multiview-activated (MA-)SCVP network. The MA-SCVP is trained on a multiview dataset generated by our long-tail sampling method, which addresses the issue of unbalanced multiview inputs and enhances the network performance. Extensive simulated experiments substantiate that our system demonstrates a significant surface coverage increase and a substantial 45% reduction in movement cost compared to state-of-the-art systems. Real-world experiments justify the capability of our system for generalization and deployment.

To meet the growing quest for enhanced network capacity, mobile network operators (MNOs) are deploying dense infrastructures of small cells. This, in turn, increases the power consumption of mobile networks, thus impacting the environment. As a result, we have seen a recent trend of powering mobile networks with harvested ambient energy to achieve both environmental and cost benefits. In this paper, we consider a network of virtualized small cells (vSCs) powered by energy harvesters and equipped with rechargeable batteries, which can opportunistically offload baseband (BB) functions to a grid-connected edge server depending on their energy availability. We formulate the corresponding grid energy and traffic drop rate minimization problem, and propose a distributed deep reinforcement learning (DDRL) solution. Coordination among vSCs is enabled via the exchange of battery state information. The evaluation of the network performance in terms of grid energy consumption and traffic drop rate confirms that enabling coordination among the vSCs via knowledge exchange achieves a performance close to the optimal. Numerical results also confirm that the proposed DDRL solution provides higher network performance, better adaptation to the changing environment, and higher cost savings with respect to a tabular multi-agent reinforcement learning (MRL) solution used as a benchmark.

We propose Very Simple Classifier (VSC) a novel method designed to incorporate the concepts of subsampling and locality in the definition of features to be used as the input of a perceptron. The rationale is that locality theoretically guarantees a bound on the generalization error. Each feature in VSC is a max-margin classifier built on randomly-selected pairs of samples. The locality in VSC is achieved by multiplying the value of the feature by a confidence measure that can be characterized in terms of the Chebichev inequality. The output of the layer is then fed in a output layer of neurons. The weights of the output layer are then determined by a regularized pseudoinverse. Extensive comparison of VSC against 9 competitors in the task of binary classification is carried out. Results on 22 benchmark datasets with fixed parameters show that VSC is competitive with the Multi Layer Perceptron (MLP) and outperforms the other competitors. An exploration of the parameter space shows VSC can outperform MLP.

Heuristics are crucial tools in decreasing search effort in varied fields of AI. In order to be effective, a heuristic must be efficient to compute, as well as provide useful information to the search algorithm. However, some well-known heuristics which do well in reducing backtracking are so heavy that the gain of deploying them in a search algorithm might be outweighed by their overhead. We propose a rational metareasoning approach to decide when to deploy heuristics, using CSP backtracking search as a case study. In particular, a value of information approach is taken to adaptive deployment of solution-count estimation heuristics for value ordering. Empirical results show that indeed the proposed mechanism successfully balances the tradeoff between decreasing backtracking and heuristic computational overhead, resulting in a significant overall search time reduction.