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For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning System (GPS) is an obvious choice, GPS is not always available, can be spoofed or jammed, and is highly error-prone for indoor and underground environments. The ranging method using beacons is one of the popular methods for localization, specially for indoor environments. In general, localization error in this class is due to two factors: the ranging error and the error induced by the relative geometry between the beacons and the target object to localize. This paper proposes OPTILOD (Optimal Beacon Placement for High-Accuracy Indoor Localization of Drones), an optimization algorithm for the optimal placement of beacons deployed in three-dimensional indoor environments. OPTILOD leverages advances in Evolutionary Algorithms to compute the minimum number of beacons and their optimal placement to minimize the localization error. These problems belong to the Mixed Integer Programming (MIP) class and are both considered NP-Hard. Despite that, OPTILOD can provide multiple optimal beacon configurations that minimize the localization error and the number of deployed beacons concurrently and time efficiently.

Autonomous Vehicles (AVs) i.e., self-driving cars, operate in a safety critical domain, since errors in the autonomous driving software can lead to huge losses. Statistically, road intersections which are a part of the AVs operational design domain (ODD), have some of the highest accident rates. Hence, testing AVs to the limits on road intersections and assuring their safety on road intersections is pertinent, and thus the focus of this paper. We present a situation coverage-based (SitCov) AV-testing framework for the verification and validation (V&V) and safety assurance of AVs, developed in an open-source AV simulator named CARLA. The SitCov AV-testing framework focuses on vehicle-to-vehicle interaction on a road intersection under different environmental and intersection configuration situations, using situation coverage criteria for automatic test suite generation for safety assurance of AVs. We have developed an ontology for intersection situations, and used it to generate a situation hyperspace i.e., the space of all possible situations arising from that ontology. For the evaluation of our SitCov AV-testing framework, we have seeded multiple faults in our ego AV, and compared situation coverage based and random situation generation. We have found that both generation methodologies trigger around the same number of seeded faults, but the situation coverage-based generation tells us a lot more about the weaknesses of the autonomous driving algorithm of our ego AV, especially in edge-cases. Our code is publicly available online, anyone can use our SitCov AV-testing framework and use it or build further on top of it. This paper aims to contribute to the domain of V&V and development of AVs, not only from a theoretical point of view, but also from the viewpoint of an open-source software contribution and releasing a flexible/effective tool for V&V and development of AVs.

Cyber-physical systems (CPSs) typically consist of a wide set of integrated, heterogeneous components; consequently, most of their critical failures relate to the interoperability of such components.Unfortunately, most CPS test automation techniques are preliminary and industry still heavily relies on manual testing. With potentially incomplete, manually-generated test suites, it is of paramount importance to assess their quality. Though mutation analysis has demonstrated to be an effective means to assess test suite quality in some specific contexts, we lack approaches for CPSs. Indeed, existing approaches do not target interoperability problems and cannot be executed in the presence of black-box or simulated components, a typical situation with CPSs. In this paper, we introduce data-driven mutation analysis, an approach that consists in assessing test suite quality by verifying if it detects interoperability faults simulated by mutating the data exchanged by software components. To this end, we describe a data-driven mutation analysis technique (DaMAT) that automatically alters the data exchanged through data buffers. Our technique is driven by fault models in tabular form where engineers specify how to mutate data items by selecting and configuring a set of mutation operators. We have evaluated DaMAT with CPSs in the space domain; specifically, the test suites for the software systems of a microsatellite and nanosatellites launched on orbit last year. Our results show that the approach effectively detects test suite shortcomings, is not affected by equivalent and redundant mutants, and entails acceptable costs.

Deterministic IP (DIP) networking is a promising technique that can provide delay-bounded transmission in large-scale networks. Nevertheless, DIP faces several challenges in the mixed traffic scenarios, including (i) the capability of ultra-low latency communications, (ii) the simultaneous satisfaction of diverse QoS requirements, and (iii) the network efficiency. The problems are more formidable in the dynamic surroundings without prior knowledge of traffic demands. To address the above-mentioned issues, this paper designs a flexible DIP (FDIP) network. In the proposed network, we classify the queues at the output port into multiple groups. Each group operates with different cycle lengths. FDIP can assign the time-sensitive flows with different groups, hence delivering diverse QoS requirements, simultaneously. The ultra-low latency communication can be achieved by specific groups with short cycle lengths. Moreover, the flexible scheduling with diverse cycle lengths improves resource utilization, hence increasing the throughput (i.e., the number of acceptable time-sensitive flows). We formulate a throughput maximization problem that jointly considers the admission control, transmission path selection, and cycle length assignment. A branch and bound (BnB)-based heuristic is developed. Simulation results show that the proposed FDIP significantly outperforms the standard DIP in terms of both the throughput and the latency guarantees.

Recommender systems exploit interaction history to estimate user preference, having been heavily used in a wide range of industry applications. However, static recommendation models are difficult to answer two important questions well due to inherent shortcomings: (a) What exactly does a user like? (b) Why does a user like an item? The shortcomings are due to the way that static models learn user preference, i.e., without explicit instructions and active feedback from users. The recent rise of conversational recommender systems (CRSs) changes this situation fundamentally. In a CRS, users and the system can dynamically communicate through natural language interactions, which provide unprecedented opportunities to explicitly obtain the exact preference of users. Considerable efforts, spread across disparate settings and applications, have been put into developing CRSs. Existing models, technologies, and evaluation methods for CRSs are far from mature. In this paper, we provide a systematic review of the techniques used in current CRSs. We summarize the key challenges of developing CRSs into five directions: (1) Question-based user preference elicitation. (2) Multi-turn conversational recommendation strategies. (3) Dialogue understanding and generation. (4) Exploitation-exploration trade-offs. (5) Evaluation and user simulation. These research directions involve multiple research fields like information retrieval (IR), natural language processing (NLP), and human-computer interaction (HCI). Based on these research directions, we discuss some future challenges and opportunities. We provide a road map for researchers from multiple communities to get started in this area. We hope this survey helps to identify and address challenges in CRSs and inspire future research.

Online peer-to-peer support platforms enable conversations between millions of people who seek and provide mental health support. If successful, web-based mental health conversations could improve access to treatment and reduce the global disease burden. Psychologists have repeatedly demonstrated that empathy, the ability to understand and feel the emotions and experiences of others, is a key component leading to positive outcomes in supportive conversations. However, recent studies have shown that highly empathic conversations are rare in online mental health platforms. In this paper, we work towards improving empathy in online mental health support conversations. We introduce a new task of empathic rewriting which aims to transform low-empathy conversational posts to higher empathy. Learning such transformations is challenging and requires a deep understanding of empathy while maintaining conversation quality through text fluency and specificity to the conversational context. Here we propose PARTNER, a deep reinforcement learning agent that learns to make sentence-level edits to posts in order to increase the expressed level of empathy while maintaining conversation quality. Our RL agent leverages a policy network, based on a transformer language model adapted from GPT-2, which performs the dual task of generating candidate empathic sentences and adding those sentences at appropriate positions. During training, we reward transformations that increase empathy in posts while maintaining text fluency, context specificity and diversity. Through a combination of automatic and human evaluation, we demonstrate that PARTNER successfully generates more empathic, specific, and diverse responses and outperforms NLP methods from related tasks like style transfer and empathic dialogue generation. Our work has direct implications for facilitating empathic conversations on web-based platforms.

Personalized recommender systems are playing an increasingly important role as more content and services become available and users struggle to identify what might interest them. Although matrix factorization and deep learning based methods have proved effective in user preference modeling, they violate the triangle inequality and fail to capture fine-grained preference information. To tackle this, we develop a distance-based recommendation model with several novel aspects: (i) each user and item are parameterized by Gaussian distributions to capture the learning uncertainties; (ii) an adaptive margin generation scheme is proposed to generate the margins regarding different training triplets; (iii) explicit user-user/item-item similarity modeling is incorporated in the objective function. The Wasserstein distance is employed to determine preferences because it obeys the triangle inequality and can measure the distance between probabilistic distributions. Via a comparison using five real-world datasets with state-of-the-art methods, the proposed model outperforms the best existing models by 4-22% in terms of recall@K on Top-K recommendation.

Concepts embody the knowledge of the world and facilitate the cognitive processes of human beings. Mining concepts from web documents and constructing the corresponding taxonomy are core research problems in text understanding and support many downstream tasks such as query analysis, knowledge base construction, recommendation, and search. However, we argue that most prior studies extract formal and overly general concepts from Wikipedia or static web pages, which are not representing the user perspective. In this paper, we describe our experience of implementing and deploying ConcepT in Tencent QQ Browser. It discovers user-centered concepts at the right granularity conforming to user interests, by mining a large amount of user queries and interactive search click logs. The extracted concepts have the proper granularity, are consistent with user language styles and are dynamically updated. We further present our techniques to tag documents with user-centered concepts and to construct a topic-concept-instance taxonomy, which has helped to improve search as well as news feeds recommendation in Tencent QQ Browser. We performed extensive offline evaluation to demonstrate that our approach could extract concepts of higher quality compared to several other existing methods. Our system has been deployed in Tencent QQ Browser. Results from online A/B testing involving a large number of real users suggest that the Impression Efficiency of feeds users increased by 6.01% after incorporating the user-centered concepts into the recommendation framework of Tencent QQ Browser.

The field of Multi-Agent System (MAS) is an active area of research within Artificial Intelligence, with an increasingly important impact in industrial and other real-world applications. Within a MAS, autonomous agents interact to pursue personal interests and/or to achieve common objectives. Distributed Constraint Optimization Problems (DCOPs) have emerged as one of the prominent agent architectures to govern the agents' autonomous behavior, where both algorithms and communication models are driven by the structure of the specific problem. During the last decade, several extensions to the DCOP model have enabled them to support MAS in complex, real-time, and uncertain environments. This survey aims at providing an overview of the DCOP model, giving a classification of its multiple extensions and addressing both resolution methods and applications that find a natural mapping within each class of DCOPs. The proposed classification suggests several future perspectives for DCOP extensions, and identifies challenges in the design of efficient resolution algorithms, possibly through the adaptation of strategies from different areas.