Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning algorithm - PiP-X, using finite-time invariant sets - funnels. We combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces. A volumetric funnel-graph is constructed using sampling-based methods, and an optimal funnel-path from robot configuration to a desired goal region is then determined by computing the shortest-path subtree in it. Analysing and formally quantifying the stability of trajectories using Lyapunov level-set theory ensures kinodynamic feasibility and guaranteed set-invariance of the solution-paths. The use of incremental search techniques and a pre-computed library of motion-primitives ensure that our method can be used for quick online rewiring of controllable motion plans in densely cluttered and dynamic environments. We represent traversability and sequencibility of trajectories together in the form of an augmented directed-graph, helping us leverage discrete graph-based replanning algorithms to efficiently recompute feasible and controllable motion plans that are volumetric in nature. We validate our approach on a simulated 6DOF quadrotor platform in a variety of scenarios within a maze and random forest environment. From repeated experiments, we analyse the performance in terms of algorithm-success and length of traversed-trajectory.
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Spatio-temporal point process modelling of fires in Sicily exploring human and environmental factors
In 2023, Sicily faced an escalating issue of uncontrolled fires, necessitating a thorough investigation into their spatio-temporal dynamics. Our study addresses this concern through point process theory. Each wildfire is treated as a unique point in both space and time, allowing us to assess the influence of environmental and anthropogenic factors by fitting a spatio-temporal separable Poisson point process model, with a particular focus on the role of land usage. First, a spatial log-linear Poisson model is applied to investigate the influence of land use types on wildfire distribution, controlling for other environmental covariates. The results highlight the significant effect of human activities, altitude, and slope on spatial fire occurrence. Then, a Generalized Additive Model with Poisson-distributed response further explores the temporal dynamics of wildfire occurrences, confirming their dependence on various environmental variables, including the maximum daily temperature, wind speed, surface pressure, and total precipitation.
For training registration networks, weak supervision from segmented corresponding regions-of-interest (ROIs) have been proven effective for (a) supplementing unsupervised methods, and (b) being used independently in registration tasks in which unsupervised losses are unavailable or ineffective. This correspondence-informing supervision entails cost in annotation that requires significant specialised effort. This paper describes a semi-weakly-supervised registration pipeline that improves the model performance, when only a small corresponding-ROI-labelled dataset is available, by exploiting unlabelled image pairs. We examine two types of augmentation methods by perturbation on network weights and image resampling, such that consistency-based unsupervised losses can be applied on unlabelled data. The novel WarpDDF and RegCut approaches are proposed to allow commutative perturbation between an image pair and the predicted spatial transformation (i.e. respective input and output of registration networks), distinct from existing perturbation methods for classification or segmentation. Experiments using 589 male pelvic MR images, labelled with eight anatomical ROIs, show the improvement in registration performance and the ablated contributions from the individual strategies. Furthermore, this study attempts to construct one of the first computational atlases for pelvic structures, enabled by registering inter-subject MRs, and quantifies the significant differences due to the proposed semi-weak supervision with a discussion on the potential clinical use of example atlas-derived statistics.
Random forests are a statistical learning method widely used in many areas of scientific research because of its ability to learn complex relationships between input and output variables and also its capacity to handle high-dimensional data. However, current random forest approaches are not flexible enough to handle heterogeneous data such as curves, images and shapes. In this paper, we introduce Fr\'echet trees and Fr\'echet random forests, which allow to handle data for which input and output variables take values in general metric spaces. To this end, a new way of splitting the nodes of trees is introduced and the prediction procedures of trees and forests are generalized. Then, random forests out-of-bag error and variable importance score are naturally adapted. A consistency theorem for Fr\'echet regressogram predictor using data-driven partitions is given and applied to Fr\'echet purely uniformly random trees. The method is studied through several simulation scenarios on heterogeneous data combining longitudinal, image and scalar data. Finally, one real dataset about air quality is used to illustrate the use of the proposed method in practice.
We consider the numerical behavior of the fixed-stress splitting method for coupled poromechanics as undrained regimes are approached. We explain that pressure stability is related to the splitting error of the scheme, not the fact that the discrete saddle point matrix never appears in the fixed-stress approach. This observation reconciles previous results regarding the pressure stability of the splitting method. Using examples of compositional poromechanics with application to geological CO$_2$ sequestration, we see that solutions obtained using the fixed-stress scheme with a low order finite element-finite volume discretization which is not inherently inf-sup stable can exhibit the same pressure oscillations obtained with the corresponding fully implicit scheme. Moreover, pressure jump stabilization can effectively remove these spurious oscillations in the fixed-stress setting, while also improving the efficiency of the scheme in terms of the number of iterations required at every time step to reach convergence.
The Bellman-Ford algorithm for single-source shortest paths repeatedly updates tentative distances in an operation called relaxing an edge. In several important applications a non-adaptive (oblivious) implementation is preferred, which means fixing the entire sequence of relaxations upfront, independent of the edge-weights. In a dense graph on $n$ vertices, the algorithm in its standard form performs $(1 + o(1))n^3$ relaxations. An improvement by Yen from 1970 reduces the number of relaxations by a factor of two. We show that no further constant-factor improvements are possible, and every non-adaptive deterministic algorithm based on relaxations must perform $(\frac{1}{2} - o(1))n^3$ steps. This improves an earlier lower bound of Eppstein of $(\frac{1}{6} - o(1))n^3$. Given that a non-adaptive randomized variant of Bellman-Ford with at most $(\frac{1}{3} + o(1))n^3$ relaxations (with high probability) is known, our result implies a strict separation between deterministic and randomized strategies, answering an open question of Eppstein.
Non-Hermitian topological phases can produce some remarkable properties, compared with their Hermitian counterpart, such as the breakdown of conventional bulk-boundary correspondence and the non-Hermitian topological edge mode. Here, we introduce several algorithms with multi-layer perceptron (MLP), and convolutional neural network (CNN) in the field of deep learning, to predict the winding of eigenvalues non-Hermitian Hamiltonians. Subsequently, we use the smallest module of the periodic circuit as one unit to construct high-dimensional circuit data features. Further, we use the Dense Convolutional Network (DenseNet), a type of convolutional neural network that utilizes dense connections between layers to design a non-Hermitian topolectrical Chern circuit, as the DenseNet algorithm is more suitable for processing high-dimensional data. Our results demonstrate the effectiveness of the deep learning network in capturing the global topological characteristics of a non-Hermitian system based on training data.
The context of this paper is the creation of large uniform archaeological datasets from heterogeneous published resources, such as find catalogues - with the help of AI and Big Data. The paper is concerned with the challenge of consistent assemblages of archaeological data. We cannot simply combine existing records, as they differ in terms of quality and recording standards. Thus, records have to be recreated from published archaeological illustrations. This is only a viable path with the help of automation. The contribution of this paper is a new workflow for collecting data from archaeological find catalogues available as legacy resources, such as archaeological drawings and photographs in large unsorted PDF files; the workflow relies on custom software (AutArch) supporting image processing, object detection, and interactive means of validating and adjusting automatically retrieved data. We integrate artificial intelligence (AI) in terms of neural networks for object detection and classification into the workflow, thereby speeding up, automating, and standardising data collection. Objects commonly found in archaeological catalogues - such as graves, skeletons, ceramics, ornaments, stone tools and maps - are detected. Those objects are spatially related and analysed to extract real-life attributes, such as the size and orientation of graves based on the north arrow and the scale. We also automate recording of geometric whole-outlines through contour detection, as an alternative to landmark-based geometric morphometrics. Detected objects, contours, and other automatically retrieved data can be manually validated and adjusted. We use third millennium BC Europe (encompassing cultures such as 'Corded Ware' and 'Bell Beaker', and their burial practices) as a 'testing ground' and for evaluation purposes; this includes a user study for the workflow and the AutArch software.
Artificial intelligence (AI) has driven many information and communication technology (ICT) breakthroughs. Nonetheless, the scope of ICT systems has expanded far beyond AI since the Turing test proposal. Critically, recent AI regulation proposals adopt AI definitions affecting ICT techniques, approaches, and systems that are not AI. In some cases, even works from mathematics, statistics, and engineering would be affected. Worryingly, AI misdefinitions are observed from Western societies to the Global South. In this paper, we propose a framework to score how validated as appropriately-defined for regulation (VADER) an AI definition is. Our online, publicly-available VADER framework scores the coverage of premises that should underlie AI definitions for regulation, which aim to (i) reproduce principles observed in other successful technology regulations, and (ii) include all AI techniques and approaches while excluding non-AI works. Regarding the latter, our score is based on a dataset of representative AI, non-AI ICT, and non-ICT examples. We demonstrate our contribution by reviewing the AI regulation proposals of key players, namely the United States, United Kingdom, European Union, and Brazil. Importantly, none of the proposals assessed achieve the appropriateness score, ranging from a revision need to a concrete risk to ICT systems and works from other fields.
Based on interactions between individuals and others and references to social norms, this study reveals the impact of heterogeneity in time preference on wealth distribution and inequality. We present a novel approach that connects the interactions between microeconomic agents that generate heterogeneity to the dynamic equations for capital and consumption in macroeconomic models. Using this approach, we estimate the impact of changes in the discount rate due to microeconomic interactions on capital, consumption and utility and the degree of inequality. The results show that intercomparisons with others regarding consumption significantly affect capital, i.e. wealth inequality. Furthermore, the impact on utility is never small and social norms can reduce this impact. Our supporting evidence shows that the quantitative results of inequality calculations correspond to survey data from cohort and cross-cultural studies. This study's micro-macro connection approach can be deployed to connect microeconomic interactions, such as exchange, interest and debt, redistribution, mutual aid and time preference, to dynamic macroeconomic models.
We present an information-theoretic lower bound for the problem of parameter estimation with time-uniform coverage guarantees. Via a new a reduction to sequential testing, we obtain stronger lower bounds that capture the hardness of the time-uniform setting. In the case of location model estimation, logistic regression, and exponential family models, our $\Omega(\sqrt{n^{-1}\log \log n})$ lower bound is sharp to within constant factors in typical settings.
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