Mohrcowan5051

Results from outdoor multirotor test flights are given along with comparisons against baseline GPS results. selleck compound The SCAMP PPA's High Dynamic Range (HDR) and ability to run multiple algorithms at adaptive rates makes the sensor well suited for addressing outdoor flight of small UAS in GNSS challenging or denied environments. HDR allows operation to continue during the transition from indoor to outdoor environments, and in other situations where there are significant variations in light levels. Additionally, the PPA only needs to output specific information such as the optic flow and target position, rather than having to output entire images. This significantly reduces the bandwidth required for communication between the sensor and on-board flight computer, enabling high frame rate, low power operation.Brain-computer interfaces (BCIs) have long been seen as control interfaces that translate changes in brain activity, produced either by means of a volitional modulation or in response to an external stimulation. However, recent trends in the BCI and neurofeedback research highlight passive monitoring of a user's brain activity in order to estimate cognitive load, attention level, perceived errors and emotions. Extraction of such higher order information from brain signals is seen as a gateway for facilitation of interaction between humans and intelligent systems. Particularly in the field of robotics, passive BCIs provide a promising channel for prediction of user's cognitive and affective state for development of a user-adaptive interaction. In this paper, we first illustrate the state of the art in passive BCI technology and then provide examples of BCI employment in human-robot interaction (HRI). We finally discuss the prospects and challenges in integration of passive BCIs in socially demanding HRI settings. This work intends to inform HRI community of the opportunities offered by passive BCI systems for enhancement of human-robot interaction while recognizing potential pitfalls.We describe and evaluate a neural network-based architecture aimed to imitate and improve the performance of a fully autonomous soccer team in RoboCup Soccer 2D Simulation environment. The approach utilizes deep Q-network architecture for action determination and a deep neural network for parameter learning. The proposed solution is shown to be feasible for replacing a selected behavioral module in a well-established RoboCup base team, Gliders2d, in which behavioral modules have been evolved with human experts in the loop. Furthermore, we introduce an additional performance-correlated signal (a delayed reward signal), enabling a search for local maxima during a training phase. The extension is compared against a known benchmark. Finally, we investigate the extent to which preserving the structure of expert-designed behaviors affects the performance of a neural network-based solution.We consider the problem of learning generalized first-order representations of concepts from a small number of examples. We augment an inductive logic programming learner with 2 novel contributions. First, we define a distance measure between candidate concept representations that improves the efficiency of search for target concept and generalization. Second, we leverage richer human inputs in the form of advice to improve the sample efficiency of learning. We prove that the proposed distance measure is semantically valid and use that to derive a PAC bound. Our experiments on diverse learning tasks demonstrate both the effectiveness and efficiency of our approach.In our everyday lives we regularly engage in complex, personalized, and adaptive interactions with our peers. To recreate the same kind of rich, human-like interactions, a social robot should be aware of our needs and affective states and continuously adapt its behavior to them. Our proposed solution is to have the robot learn how to select the behaviors that would maximize the pleasantness of the interaction for its peers. To make the robot autonomous in its decision making, this process could be guided by an internal motivation system. We wish to investigate how an adaptive robotic framework of this kind would function and personalize to different users. We also wish to explore whether the adaptability and personalization would bring any additional richness to the human-robot interaction (HRI), or whether it would instead bring uncertainty and unpredictability that would not be accepted by the robot's human peers. To this end, we designed a socially adaptive framework for the humanoid robot iCub. As a result, the robot perceives and reuses the affective and interactive signals from the person as input for the adaptation based on internal social motivation. We strive to investigate the value of the generated adaptation in our framework in the context of HRI. In particular, we compare how users will experience interaction with an adaptive versus a non-adaptive social robot. To address these questions, we propose a comparative interaction study with iCub whereby users act as the robot's caretaker, and iCub's social adaptation is guided by an internal comfort level that varies with the stimuli that iCub receives from its caretaker. We investigate and compare how iCub's internal dynamics would be perceived by people, both in a condition when iCub does not personalize its behavior to the person, and in a condition where it is instead adaptive. Finally, we establish the potential benefits that an adaptive framework could bring to the context of repeated interactions with a humanoid robot.This article presents a method for grasping novel objects by learning from experience. Successful attempts are remembered and then used to guide future grasps such that more reliable grasping is achieved over time. To transfer the learned experience to unseen objects, we introduce the dense geometric correspondence matching network (DGCM-Net). This applies metric learning to encode objects with similar geometry nearby in feature space. Retrieving relevant experience for an unseen object is thus a nearest neighbor search with the encoded feature maps. DGCM-Net also reconstructs 3D-3D correspondences using the view-dependent normalized object coordinate space to transform grasp configurations from retrieved samples to unseen objects. In comparison to baseline methods, our approach achieves an equivalent grasp success rate. However, the baselines are significantly improved when fusing the knowledge from experience with their grasp proposal strategy. Offline experiments with a grasping dataset highlight the capability to transfer grasps to new instances as well as to improve success rate over time from increasing experience.