Abstract

Vehicles losing their GPS signal is a considerable issue for autonomous vehicles and can be a danger to people in their vicinity. To circumvent this issue, a particle filter localization technique using pre-generated offline Open Street Map (OSM) maps was investigated in a software simulation of Scania’s heavy-duty trucks. The localization technique runs in real-time and provides a way to localize the vehicle safely if the starting position is known. Access to global localization was limited, and the particle filter still succeeded in localizing the vehicle in the vicinity of the correct road segment by creating a graph of the map information and matching the trajectory to the vehicle’s sensor data. The mean error of the Particle filter localization technique in optimal conditions is 16m, which is 20% less than an optimally tuned dead reckoning solution. The mean error is about 50% larger compared to a Global Positioning System. The final product shows potential for expansion but requires more investigation to allow for real-world deployment. Att fordon kan mista sin GPS-signal är ett stort problem för autonoma fordon och kan vara en fara för människor i dess närhet. För att undvika detta problem föreslås en icke-global lokaliseringsteknik som använder Open Street Maps-kartor (OSM) och ett partikelfilter för att lokalisera fordonet i en mjukvarusimulation. Implementering körs i realtid och anger fordonets position med en tillräcklig träffsäkerhet för att det inte ska utgöra någon fara om dess startposition är känd. Globala lokaliseringsmöjligheter var begränsade, och partikelfiltret lyckades lokalisera fordonet till rätt vägsegment genom att konstruera en graf över den kartinformation den läst in och para ihop fordonets nuvarande färdväg med denna. Resultatet ger en lösning som optimalt har ett medelfel på 16m, vilket är 20% mindre än medelfelet jämfört med optimiserad dödräkning. Lösningen har ca 50% större medelfel än positionering med GPS. Slutresultatet visar en potential att användas i verkliga situationer, men kräver mer undersökningar.

Abstract

Procedural generation of urban environments is a very difficult problem to solve. Most solutions use predefined production rules which lock them into only few different variations of the result. This works well when producing new urban environments but fails when it comes to the expansion of them. Most cities are too complex to model using an approach which utilises predefined rules. By using an example based approach instead, it is possible to expand any city and still have the new street network follow the layout of the original city, regardless of complexity. This paper describes a method of extracting the necessary information from the GIS database OpenStreetMap and expanding the cities using an example based approach presented by Aliaga et al. The paper will also show how blocks, parcels and buildings can be generated to fit within the urban environment.

Abstract

Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental prob- lem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.  "p"Accepted for Publication."/p" ELLIIT CADICS CUAS SHERPA

Abstract

Effective symptom management is a critical component of cancer treatment. Computational tools that predict the course and severity of these symptoms have the potential to assist oncology clinicians to personalize the patient’s treatment regimen more efficiently and provide more aggressive and timely interventions. Three common and inter-related symptoms in cancer patients are depression, anxiety, and sleep disturbance. In this paper, we elaborate on the efficiency of Support Vector Regression (SVR) and Non-linear Canonical Correlation Analysis by Neural Networks (n-CCA) to predict the severity of the aforementioned symptoms between two different time points during a cycle of chemotherapy (CTX). Our results demonstrate that these two methods produced equivalent results for all three symptoms. These types of predictive models can be used to identify high risk patients, educate patients about their symptom experience, and improve the timing of pre-emptive and personalized symptom management interventions. Document type: Article

Abstract

International audience; Targeted metagenomics, also known as metagenetics, is a high-throughput sequencing application focusing on a nucleotide target in a microbiome to describe its taxonomic content. A wide range of bioinformatics pipelines are available to analyze sequencing outputs, and the choice of an appropriate tool is crucial and not trivial. No standard evaluation method exists for estimating the accuracy of a pipeline for targeted metagenomics analyses. This article proposes an evaluation protocol containing real and simulated targeted metage-nomics datasets, and adequate metrics allowing us to study the impact of different variables on the biological interpretation of results. This protocol was used to compare six different bioinformatics pipelines in the basic user context: Three common ones (mothur, QIIME and BMP) based on a clustering-first approach and three emerging ones (Kraken, CLARK and One Codex) using an assignment-first approach. This study surprisingly reveals that the effect of sequencing errors has a bigger impact on the results that choosing different amplified regions. Moreover, increasing sequencing throughput increases richness overestima-tion, even more so for microbiota of high complexity. Finally, the choice of the reference database has a bigger impact on richness estimation for clustering-first pipelines, and on correct taxa identification for assignment-first pipelines. Using emerging assignment-first pipelines is a valid approach for targeted metagenomics analyses, with a quality of results comparable to popular clustering-first pipelines, even with an error-prone sequencing technology like Ion Torrent. However, those pipelines are highly sensitive to the quality of databases and their annotations, which makes clustering-first pipelines still the only reliable approach for studying microbiomes that are not well described. Document type: Article

Abstract

We show that the European airspace can be represented as a multi-scale traffic network whose nodes are airports, sectors, or navigation points and links are defined and weighted according to the traffic of flights between the nodes. By using a unique database of the air traffic in the European airspace, we investigate the architecture of these networks with a special emphasis on their community structure. We propose that unsupervised network community detection algorithms can be used to monitor the current use of the airspaces and improve it by guiding the design of new ones. Specifically, we compare the performance of three community detection algorithms, also by using a null model which takes into account the spatial distance between nodes, and we discuss their ability to find communities that could be used to define new control units of the airspace. Comment: 22 pages, 14 figure Document type: Article

Abstract

Traffic congestion continues to be a persistent problem throughout the world. As vehicle-to-vehicle communication develops, there is an opportunity of using cooperation among close proximity vehicles to tackle the congestion problem. The intuition is that if vehicles could cooperate opportunistically when they come close enough to each other, they could, in effect, spread themselves out among alternative routes so that vehicles do not all jam up on the same roads. Our previous work proposed a decentralized multiagent based vehicular congestion management algorithm entitled Congestion Avoidance and Route Allocation using Virtual Agent Negotiation (CARAVAN), wherein the vehicles acting as intelligent agents perform cooperative route allocation using inter-vehicular communication. This paper focuses on evaluating the practical applicability of this approach by testing its robustness and performance (in terms of travel time reduction), across variations in: (a) environmental parameters such as road network topology and configuration; (b) algorithmic parameters such as vehicle agent preferences and route cost/preference multipliers; and (c) agent-related parameters such as equipped/non-equipped vehicles and compliant/non-compliant agents. Overall, the results demonstrate the adaptability and robustness of the decentralized cooperative vehicles approach to providing global travel time reduction using simple local coordination strategies. Document type: Article

Abstract

Structural brain networks may be reconstructed from diffusion MRI tractography data and have great potential to further our understanding of the topological organisation of brain structure in health and disease. Network reconstruction is complex and involves a series of processesing methods including anatomical parcellation, registration, fiber orientation estimation and whole-brain fiber tractography. Methodological choices at each stage can affect the anatomical accuracy and graph theoretical properties of the reconstructed networks, meaning applying different combinations in a network reconstruction pipeline may produce substantially different networks. Furthermore, the choice of which connections are considered important is unclear. In this study, we assessed the similarity between structural networks obtained using two independent state-of-the-art reconstruction pipelines. We aimed to quantify network similarity and identify the core connections emerging most robustly in both pipelines. Similarity of network connections was compared between pipelines employing different atlases by merging parcels to a common and equivalent node scale. We found a high agreement between the networks across a range of fiber density thresholds. In addition, we identified a robust core of highly connected regions coinciding with a peak in similarity across network density thresholds, and replicated these results with atlases at different node scales. The binary network properties of these core connections were similar between pipelines but showed some differences in atlases across node scales. This study demonstrates the utility of applying multiple structural network reconstrution pipelines to diffusion data in order to identify the most important connections for further study. Document type: Article