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Burdakov, O., Kvarnström, J. & Doherty, P. (2017). Optimal scheduling for replacing perimeter guarding unmanned aerial vehicles. Annals of Operations Research, 249(1), 163-174
Open this publication in new window or tab >>Optimal scheduling for replacing perimeter guarding unmanned aerial vehicles
2017 (English)In: Annals of Operations Research, ISSN 0254-5330, E-ISSN 1572-9338, Vol. 249, no 1, p. 163-174Article in journal (Refereed) Published
Abstract [en]

Guarding the perimeter of an area in order to detect potential intruders is an important task in a variety of security-related applications. This task can in many circumstances be performed by a set of camera-equipped unmanned aerial vehicles (UAVs). Such UAVs will occasionally require refueling or recharging, in which case they must temporarily be replaced by other UAVs in order to maintain complete surveillance of the perimeter. In this paper we consider the problem of scheduling such replacements. We present optimal replacement strategies and justify their optimality.

Place, publisher, year, edition, pages
Springer, 2017
Keywords
Scheduling problem, Optimal replacement strategies, Perimeter guarding, Unmanned aerial vehicles
National Category
Computer Sciences Computational Mathematics Information Systems
Identifiers
urn:nbn:se:liu:diva-126459 (URN)10.1007/s10479-016-2169-5 (DOI)000394151400010 ()2-s2.0-84961644607 (Scopus ID)
Funder
EU, FP7, Seventh Framework Programme, 600958VINNOVA, 2013-01206Linnaeus research environment CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2016-03-27 Created: 2016-03-27 Last updated: 2018-01-10Bibliographically approved
Doherty, P., Kvarnström, J., Rudol, P., Wzorek, M., Conte, G., Berger, C., . . . Stastny, T. (2016). A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles. In: Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P. (Ed.), PRIMA 2016: Principles and Practice of Multi-Agent Systems: . Paper presented at PRIMA 2016: Principles and Practice of Multi-Agent Systems (pp. 110-130). Springer Publishing Company
Open this publication in new window or tab >>A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles
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2016 (English)In: PRIMA 2016: Principles and Practice of Multi-Agent Systems / [ed] Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P., Springer Publishing Company, 2016, p. 110-130Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes an overview of a generic framework for collaboration among humans and multiple heterogeneous robotic systems based on the use of a formal characterization of delegation as a speech act. The system used contains a complex set of integrated software modules that include delegation managers for each platform, a task specification language for characterizing distributed tasks, a task planner, a multi-agent scan trajectory generation and region partitioning module, and a system infrastructure used to distributively instantiate any number of robotic systems and user interfaces in a collaborative team. The application focusses on 3D reconstruction in alpine environments intended to be used by alpine rescue teams. Two complex UAV systems used in the experiments are described. A fully autonomous collaborative mission executed in the Italian Alps using the framework is also described.

Place, publisher, year, edition, pages
Springer Publishing Company, 2016
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 9862
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-130558 (URN)10.1007/978-3-319-44832-9_7 (DOI)000388796200007 ()978-3-319-44831-2 (ISBN)
Conference
PRIMA 2016: Principles and Practice of Multi-Agent Systems
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeVINNOVASwedish Research Council
Note

Accepted for publication.

Available from: 2016-08-16 Created: 2016-08-16 Last updated: 2018-02-20
Warnquist, H., Kvarnström, J. & Doherty, P. (2016). A Modeling Framework for Troubleshooting Automotive Systems. Applied Artificial Intelligence, 30(3), 257-296
Open this publication in new window or tab >>A Modeling Framework for Troubleshooting Automotive Systems
2016 (English)In: Applied Artificial Intelligence, ISSN 0883-9514, E-ISSN 1087-6545, Vol. 30, no 3, p. 257-296Article in journal (Refereed) Published
Abstract [en]

This article presents a novel framework for modeling the troubleshooting process for automotive systems such as trucks and buses. We describe how a diagnostic model of the troubleshooting process can be created using event-driven, nonstationary, dynamic Bayesian networks. Exact inference in such a model is in general not practically possible. Therefore, we evaluate different approximate methods for inference based on the Boyen–Koller algorithm. We identify relevant model classes that have particular structure such that inference can be made with linear time complexity. We also show how models created using expert knowledge can be tuned using statistical data. The proposed learning mechanism can use data that is collected from a heterogeneous fleet of modular vehicles that can consist of different components. The proposed framework is evaluated both theoretically and experimentally on an application example of a fuel injection system.

Place, publisher, year, edition, pages
Taylor & Francis, 2016
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-121499 (URN)10.1080/08839514.2016.1156955 (DOI)000374866700005 ()
Projects
ELLIITCADICS
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Note

The published article is a shorter version than the version in manuscript form. The status of this article was earlier Manuscript.

Funding agencies: Scania CV AB; FFI - Strategic Vehicle Research and Innovation; Excellence Center at Linkoping and Lund in Information Technology (ELLIIT); Research Council (VR) Linnaeus Center CADICS

Available from: 2015-09-22 Created: 2015-09-22 Last updated: 2018-01-11Bibliographically approved
Nilsson, M., Kvarnström, J. & Doherty, P. (2016). Efficient Processing of Simple Temporal Networks with Uncertainty: Algorithms for Dynamic Controllability Verification. Acta Informatica, 53(6-8), 723-752
Open this publication in new window or tab >>Efficient Processing of Simple Temporal Networks with Uncertainty: Algorithms for Dynamic Controllability Verification
2016 (English)In: Acta Informatica, ISSN 0001-5903, E-ISSN 1432-0525, Vol. 53, no 6-8, p. 723-752Article in journal (Refereed) Published
Abstract [en]

Temporal formalisms are essential for reasoning about actions that are carried out over time. The exact durations of such actions are generally hard to predict. In temporal planning, the resulting uncertainty is often worked around by only considering upper bounds on durations, with the assumption that when an action happens to be executed more quickly, the plan will still succeed. However, this  assumption is often false: If we finish cooking too early, the dinner will be cold before everyone is ready to eat. 

Using Simple Temporal Networks with Uncertainty (STNU), a planner can correctly take both lower and upper duration bounds into  account. It must then verify that the plans it generates are executable regardless of the actual outcomes of the uncertain durations. This is captured by the property of dynamic controllability (DC), which should be verified incrementally during plan generation. 

Recently a new incremental algorithm for verifying dynamic controllability was proposed: EfficiantIDC, which can verify if an STNU that is DC remains DC after the addition or tightening of a constraint (corresponding to a new action being added to a plan). The algorithm was shown to have a worst case complexity of O(n4) for each addition or tightening. This can be amortized over the construction of a whole STNU for an amortized complexity in O(n3). In this paper we improve the EfficientIDC algorithm in a way that prevents it from having to reprocess nodes. This improvement leads to a lower worst case complexity in O(n3).

Place, publisher, year, edition, pages
Springer Publishing Company, 2016
Keywords
Temporal Networks, Simple Temporal Networks with Uncertainty, Dynamic Controllability
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-121949 (URN)10.1007/s00236-015-0248-8 (DOI)000383702800007 ()
Funder
Swedish Research Council, CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research , CUASEU, FP7, Seventh Framework Programme, SHERPAVINNOVA, NFFP6 2013-01206
Available from: 2015-10-13 Created: 2015-10-13 Last updated: 2018-01-11
Doherty, P., Kvarnström, J. & Szalas, A. (2016). Iteratively-Supported Formulas and Strongly Supported Models for Kleene Answer Set Programs. In: Michael, Loizos; Kakas, Antonis (Ed.), Logics in Artificial Intelligence: 15th European Conference, JELIA 2016, Larnaca, Cyprus, November 9-11, 2016, Proceedings. Paper presented at 15th European Conference on Logics in Artificial Intelligence, JELIA 2016; Larnaca; Cyprus; 9 November 2016 through 11 November 2016 (pp. 536-542). Springer Publishing Company
Open this publication in new window or tab >>Iteratively-Supported Formulas and Strongly Supported Models for Kleene Answer Set Programs
2016 (English)In: Logics in Artificial Intelligence: 15th European Conference, JELIA 2016, Larnaca, Cyprus, November 9-11, 2016, Proceedings, Springer Publishing Company, 2016, p. 536-542Conference paper, Published paper (Refereed)
Abstract [en]

In this extended abstract, we discuss the use of iteratively-supported formulas (ISFs) as a basis for computing strongly-supported models for Kleene Answer Set Programs (ASPK). ASPK programs have a syntax identical to classical ASP programs. The semantics of ASPK programs is based on the use of Kleene three-valued logic and strongly-supported models. For normal ASPK programs, their strongly supported models are identical to classical answer sets using stable model semantics.  For disjunctive ASPK programs, the semantics weakens the minimality assumption resulting in a classical interpretation for disjunction. We use ISFs to characterize strongly-supported models and show that they are polynomially bounded.

Place, publisher, year, edition, pages
Springer Publishing Company, 2016
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 10021
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-134419 (URN)10.1007/978-3-319-48758-8_36 (DOI)000389316500036 ()978-3-319-48757-1 (ISBN)978-3-319-48758-8 (ISBN)
Conference
15th European Conference on Logics in Artificial Intelligence, JELIA 2016; Larnaca; Cyprus; 9 November 2016 through 11 November 2016
Projects
CADICSELLIITCUASSymbiCloudSHERPANFFP6 KISA
Available from: 2017-02-10 Created: 2017-02-10 Last updated: 2018-01-13
Danelljan, M., Khan, F. S., Felsberg, M., Granström, K., Heintz, F., Rudol, P., . . . Doherty, P. (2015). A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems. In: Lourdes Agapito, Michael M. Bronstein and Carsten Rother (Ed.), Lourdes Agapito, Michael M. Bronstein and Carsten Rother (Ed.), COMPUTER VISION - ECCV 2014 WORKSHOPS, PT I: . Paper presented at 13th European Conference on Computer Vision (ECCV) Switzerland, September 6-7 and 12 (pp. 223-237). Springer Publishing Company, 8925
Open this publication in new window or tab >>A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems
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2015 (English)In: COMPUTER VISION - ECCV 2014 WORKSHOPS, PT I / [ed] Lourdes Agapito, Michael M. Bronstein and Carsten Rother, Springer Publishing Company, 2015, Vol. 8925, p. 223-237Conference paper, Published paper (Refereed)
Abstract [en]

Micro unmanned aerial vehicles are becoming increasingly interesting for aiding and collaborating with human agents in myriads of applications, but in particular they are useful for monitoring inaccessible or dangerous areas. In order to interact with and monitor humans, these systems need robust and real-time computer vision subsystems that allow to detect and follow persons.

In this work, we propose a low-level active vision framework to accomplish these challenging tasks. Based on the LinkQuad platform, we present a system study that implements the detection and tracking of people under fully autonomous flight conditions, keeping the vehicle within a certain distance of a person. The framework integrates state-of-the-art methods from visual detection and tracking, Bayesian filtering, and AI-based control. The results from our experiments clearly suggest that the proposed framework performs real-time detection and tracking of persons in complex scenarios

Place, publisher, year, edition, pages
Springer Publishing Company, 2015
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 8925
Keywords
Visual tracking; Visual surveillance; Micro UAV; Active vision
National Category
Computer Vision and Robotics (Autonomous Systems) Computer Sciences
Identifiers
urn:nbn:se:liu:diva-115847 (URN)10.1007/978-3-319-16178-5_15 (DOI)000362493800015 ()978-3-319-16177-8 (ISBN)978-3-319-16178-5 (ISBN)
Conference
13th European Conference on Computer Vision (ECCV) Switzerland, September 6-7 and 12
Available from: 2015-03-20 Created: 2015-03-20 Last updated: 2018-02-07Bibliographically approved
Nilsson, M., Kvarnström, J. & Doherty, P. (2015). Revisiting Classical Dynamic Controllability: A Tighter Complexity Analysis. In: Béatrice Duval; Jaap van den Herik; Stephane Loiseau; Joaquim Filipe (Ed.), Agents and Artificial Intelligence: 6th International Conference, ICAART 2014, Angers, France, March 6–8, 2014, Revised Selected Papers. Paper presented at 6th International Conference, ICAART 2014, Angers, France, March 6-8, 2014 (pp. 243-261). Springer, 8946
Open this publication in new window or tab >>Revisiting Classical Dynamic Controllability: A Tighter Complexity Analysis
2015 (English)In: Agents and Artificial Intelligence: 6th International Conference, ICAART 2014, Angers, France, March 6–8, 2014, Revised Selected Papers / [ed] Béatrice Duval; Jaap van den Herik; Stephane Loiseau; Joaquim Filipe, Springer, 2015, Vol. 8946, p. 243-261Conference paper, Published paper (Refereed)
Abstract [en]

Simple Temporal Networks with Uncertainty (STNUs) allow the representation of temporal problems where some durations are uncontrollable (determined by nature), as is often the case for actions in planning.  It is essential to verify that such networks are dynamically controllable (DC) -- executable regardless of the outcomes of uncontrollable durations -- and to convert them to an executable form. We use insights from incremental DC verification algorithms to re-analyze the original, classical, verification algorithm. This algorithm is the entry level algorithm for DC verification, based on a less complex and more intuitive theory than subsequent algorithms. We show that with a small modification the algorithm is transformed from pseudo-polynomial to O(n4) which makes it still useful.  We also discuss a change reducing the amount of work performed by the algorithm.

Place, publisher, year, edition, pages
Springer, 2015
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 8946
Keywords
Temporal Networks, Classical Algorithm
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-121695 (URN)10.1007/978-3-319-25210-0_15 (DOI)000366298500015 ()978-3-319-25209-4 (ISBN)978-3-319-25210-0 (ISBN)
Conference
6th International Conference, ICAART 2014, Angers, France, March 6-8, 2014
Funder
Swedish Research Council, CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research , CUASEU, FP7, Seventh Framework Programme, SHERPAVINNOVA, 2013-01206CUGS (National Graduate School in Computer Science)
Available from: 2015-10-02 Created: 2015-10-01 Last updated: 2018-02-20Bibliographically approved
Nilsson, M., Kvarnström, J. & Doherty, P. (2014). Classical Dynamic Controllability Revisited: A Tighter Bound on the Classical Algorithm. In: Proceedings of the 6th International Conference on Agents and Artificial Intelligence (ICAART): . Paper presented at 6th International Conference on Agents and Artificial Intelligence (ICAART 2014), 6-8 March 2014, Angers, France (pp. 130-141).
Open this publication in new window or tab >>Classical Dynamic Controllability Revisited: A Tighter Bound on the Classical Algorithm
2014 (English)In: Proceedings of the 6th International Conference on Agents and Artificial Intelligence (ICAART), 2014, p. 130-141Conference paper, Published paper (Refereed)
Abstract [en]

Simple Temporal Networks with Uncertainty (STNUs) allow the representation of temporal problems wheresome durations are uncontrollable (determined by nature), as is often the case for actions in planning. It is essentialto verify that such networks are dynamically controllable (DC) – executable regardless of the outcomesof uncontrollable durations – and to convert them to an executable form. We use insights from incrementalDC verification algorithms to re-analyze the original verification algorithm. This algorithm, thought to bepseudo-polynomial and subsumed by an O(n5) algorithm and later an O(n4) algorithm, is in fact O(n4) givena small modification. This makes the algorithm attractive once again, given its basis in a less complex andmore intuitive theory. Finally, we discuss a change reducing the amount of work performed by the algorithm.

Keywords
Temporal Networks, Dynamic Controllability
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-102963 (URN)10.5220/0004815801300141 (DOI)978-989-758-015-4 (ISBN)
Conference
6th International Conference on Agents and Artificial Intelligence (ICAART 2014), 6-8 March 2014, Angers, France
Projects
CADICSCUASSherpaELLIITNFFP6
Funder
Swedish Research Council, CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research , CUASEU, FP7, Seventh Framework Programme, SHERPAVINNOVA, 2013-01206
Available from: 2014-01-09 Created: 2014-01-09 Last updated: 2018-01-11
Nilsson, M., Kvarnström, J. & Doherty, P. (2014). EfficientIDC: A Faster Incremental Dynamic Controllability Algorithm. In: Proceedings of the 24th International Conference on Automated Planning and Scheduling (ICAPS): . Paper presented at 24th International Conference on Automated Planning and Scheduling (ICAPS 2014), 21-26 June 2014, Portsmouth, USA (pp. 199-207). AAAI Press
Open this publication in new window or tab >>EfficientIDC: A Faster Incremental Dynamic Controllability Algorithm
2014 (English)In: Proceedings of the 24th International Conference on Automated Planning and Scheduling (ICAPS), AAAI Press, 2014, p. 199-207Conference paper, Published paper (Refereed)
Abstract [en]

Simple Temporal Networks with Uncertainty (STNUs) allow the representation of temporal problems where some durations are uncontrollable (determined by nature), as is often the case for actions in planning. It is essential to verify that such networks are dynamically controllable (DC) – executable regardless of the outcomes of uncontrollable durations – and to convert them to an executable form. We use insights from incremental DC verification algorithms to re-analyze the original verification algorithm. This algorithm, thought to be pseudo-polynomial and subsumed by an O(n5) algorithm and later an O(n4) algorithm, is in fact O(n4) given a small modification. This makes the algorithm attractive once again, given its basis in a less complex and more intuitive theory. Finally, we discuss a change reducing the amount of work performed by the algorithm.

Place, publisher, year, edition, pages
AAAI Press, 2014
Keywords
Temporal Networks, Dynamic Controllability, Incremental Algorithm
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-103012 (URN)978-1-57735-660-8 (ISBN)
Conference
24th International Conference on Automated Planning and Scheduling (ICAPS 2014), 21-26 June 2014, Portsmouth, USA
Projects
CUASCADICSNFFP6SherpaELLIIT
Funder
Swedish Research Council, CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research , CUASEU, FP7, Seventh Framework Programme, SHERPAVINNOVA, 2013-01206
Available from: 2014-01-09 Created: 2014-01-09 Last updated: 2018-01-11
Doherty, P., Kvarnström, J., Wzorek, M., Rudol, P., Heintz, F. & Conte, G. (2014). HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems. In: Kimon P. Valavanis, George J. Vachtsevanos (Ed.), Handbook of Unmanned Aerial Vehicles: (pp. 849-952). Dordrecht: Springer Science+Business Media B.V.
Open this publication in new window or tab >>HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems
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2014 (English)In: Handbook of Unmanned Aerial Vehicles / [ed] Kimon P. Valavanis, George J. Vachtsevanos, Dordrecht: Springer Science+Business Media B.V., 2014, p. 849-952Chapter in book (Other academic)
Abstract [en]

This chapter presents a distributed architecture for unmanned aircraft systems that provides full integration of both low autonomy and high autonomy. The architecture has been instantiated and used in a rotorbased aerial vehicle, but is not limited to use in particular aircraft systems. Various generic functionalities essential to the integration of both low autonomy and high autonomy in a single system are isolated and described. The architecture has also been extended for use with multi-platform systems. The chapter covers the full spectrum of functionalities required for operation in missions requiring high autonomy.  A control kernel is presented with diverse flight modes integrated with a navigation subsystem. Specific interfaces and languages are introduced which provide seamless transition between deliberative and reactive capability and reactive and control capability. Hierarchical Concurrent State Machines are introduced as a real-time mechanism for specifying and executing low-level reactive control. Task Specification Trees are introduced as both a declarative and procedural mechanism for specification of high-level tasks. Task planners and motion planners are described which are tightly integrated into the architecture. Generic middleware capability for specifying data and knowledge flow within the architecture based on a stream abstraction is also described. The use of temporal logic is prevalent and is used both as a specification language and as an integral part of an execution monitoring mechanism. Emphasis is placed on the robust integration and interaction between these diverse functionalities using a principled architectural framework.  The architecture has been empirically tested in several complex missions, some of which are described in the chapter.

Place, publisher, year, edition, pages
Dordrecht: Springer Science+Business Media B.V., 2014
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-113613 (URN)10.1007/978-90-481-9707-1_118 (DOI)978-90-481-9706-4 (ISBN)978-90-481-9707-1 (ISBN)
Funder
EU, FP7, Seventh Framework Programme, 600958Swedish Foundation for Strategic Research Linnaeus research environment CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2015-01-26 Created: 2015-01-26 Last updated: 2018-01-11
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-5500-8494

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