Intelligent Knowledge Distribution: Constrained-Action POMDPs for Resource-Aware Multiagent Communication

Computationally Relaxed Unscented Kalman Filter

Advanced robotics and autonomous vehicles rely on filtering and sensor fusion techniques to a large extent. These mobile applications need to handle the computations onboard at high rates while the computing capacities are limited. Therefore, any improvement that lowers the CPU time of the filtering leads to more accurate control or longer battery operation. This article introduces a generic computational relaxation for the unscented transformation (UT) that is the key operation of the Unscented Kalman filter-based applications. The central idea behind the relaxation is to pull out the linear part of the filtering model and avoid the calculations for the kernel of the nonlinear part. The practical merit of the proposed relaxation is demonstrated through a simultaneous localization and mapping (SLAM) implementation that underpins the superior performance of the algorithm in the practically relevant cases, where the nonlinear dependencies influence only an affine subspace of the image space. The numerical examples show that the computational demand can be mitigated below 50% without decreasing the accuracy of the approximation. The method described in this article is implemented and published as an open-source C++ library RelaxedUnscentedTransformation on GitHub.

Intelligent Recommendation Model of Contemporary Pop Music Based on Knowledge Map

With the advent of the era of big data, the rise of Web2.0 completely subverts the traditional Internet model and becomes the trend of today's information age. Simultaneously, massive amounts of data and information have infiltrated various Internet companies, resulting in an increase in the problem of information overload. In the online world, learning how to quickly and accurately select the parts we are interested in from a variety of data has become a hot topic. Intelligent music recommendation has become a current research hotspot in music services as a viable solution to the problem of information overload in the digital music field. On the basis of precedents, this paper examines the characteristics of music in a comprehensive and detailed manner. A knowledge graph-based intelligent recommendation algorithm for contemporary popular music is proposed. User-defined tags are described as the free genes of music in this paper, making it easier to analyze user behavior and tap into user interests. It has been confirmed that this algorithm's recommendation quality is relatively high, and it offers a new development path for improving the speed of searching for health information services.

Information Distribution in Multi-Robot Systems: Generic, Utility-Aware Optimization Middleware

This work addresses the problem of what information is worth sending in a multi-robot system under generic constraints, e.g., limited throughput or energy. Our decision method is based on Monte Carlo Tree Search. It is designed as a transparent middleware that can be integrated into existing systems to optimize communication among robots. Furthermore, we introduce techniques to reduce the decision space of this problem to further improve the performance. We evaluate our approach using a simulation study and demonstrate its feasibility in a real-world environment by realizing a proof of concept in ROS 2 on mobile robots.