Perception and Navigation in Autonomous Systems in the Era of Learning: A Survey

Brain-Inspired Learning, Perception, and Cognition: A Comprehensive Review

The progress of brain cognition and learning mechanisms has provided new inspiration for the next generation of artificial intelligence (AI) and provided the biological basis for the establishment of new models and methods. Brain science can effectively improve the intelligence of existing models and systems. Compared with other reviews, this article provides a comprehensive review of brain-inspired deep learning algorithms for learning, perception, and cognition from microscopic, mesoscopic, macroscopic, and super-macroscopic perspectives. First, this article introduces the brain cognition mechanism. Then, it summarizes the existing studies on brain-inspired learning and modeling from the perspectives of neural structure, cognitive module, learning mechanism, and behavioral characteristics. Next, this article introduces the potential learning directions of brain-inspired learning from four aspects: perception, cognition, understanding, and decision-making. Finally, the top-ten open problems that brain-inspired learning, perception, and cognition currently face are summarized, and the next generation of AI technology has been prospected. This work intends to provide a quick overview of the research on brain-inspired AI algorithms and to motivate future research by illuminating the latest developments in brain science.

Deep Reinforcement Learning-Based Multirestricted Dynamic-Request Transportation Framework

Unmanned aerial vehicles (UAVs) are used in many areas where their usage is increasing constantly. Their popularity, therefore, maintains its importance in the technology world. Parallel to the development of technology, human standards, and surroundings should also improve equally. This study is developed based on the possibility of timely delivery of urgent medical requests in emergency situations. Using UAVs for delivering urgent medical requests will be very effective due to their flexible maneuverability and low costs. However, off-the-shelf UAVs suffer from limited payload capacity and battery constraints. In addition, urgent requests may be requested at an uncertain time, and delivering in a short time may be crucial. To address this issue, we proposed a novel framework that considers the limitations of the UAVs and dynamically requested packages. These previously unknown packages have source-destination pairs and delivery time intervals. Furthermore, we utilize deep reinforcement learning (DRL) algorithms, deep Q-network (DQN), proximal policy optimization (PPO), and advantage actor-critic (A2C) to overcome this unknown environment and requests. The comprehensive experimental results demonstrate that the PPO algorithm has a faster and more stable training performance than the other DRL algorithms in two different environmental setups. Also, we implemented an extension version of a Brute-force (BF) algorithm, assuming that all requests and environments are known in advance. The PPO algorithm performs very close to the success rate of the BF algorithm.

Internet of Robotic Things: Current Technologies, Challenges, Applications, and Future Research Topics

This article focuses on the integration of the Internet of Things (IoT) and the Internet of Robotic Things, representing a dynamic research area with significant potential for industrial applications. The Internet of Robotic Things (IoRT) integrates IoT technologies into robotic systems, enhancing their efficiency and autonomy. The article provides an overview of the technologies used in IoRT, including hardware components, communication technologies, and cloud services. It also explores IoRT applications in industries such as healthcare, agriculture, and more. The article discusses challenges and future research directions, including data security, energy efficiency, and ethical issues. The goal is to raise awareness of the importance of IoRT and demonstrate how this technology can bring significant benefits across various sectors.

Deep Learning for Visual Localization and Mapping: A Survey

Deep-learning-based localization and mapping approaches have recently emerged as a new research direction and receive significant attention from both industry and academia. Instead of creating hand-designed algorithms based on physical models or geometric theories, deep learning solutions provide an alternative to solve the problem in a data-driven way. Benefiting from the ever-increasing volumes of data and computational power on devices, these learning methods are fast evolving into a new area that shows potential to track self-motion and estimate environmental models accurately and robustly for mobile agents. In this work, we provide a comprehensive survey and propose a taxonomy for the localization and mapping methods using deep learning. This survey aims to discuss two basic questions: whether deep learning is promising for localization and mapping, and how deep learning should be applied to solve this problem. To this end, a series of localization and mapping topics are investigated, from the learning-based visual odometry and global relocalization to mapping, and simultaneous localization and mapping (SLAM). It is our hope that this survey organically weaves together the recent works in this vein from robotics, computer vision, and machine learning communities and serves as a guideline for future researchers to apply deep learning to tackle the problem of visual localization and mapping.

Integration of Encoding and Temporal Forecasting: Toward End-to-End NOx Prediction for Industrial Chemical Process

Forecasting NOx concentration in fluid catalytic cracking (FCC) regeneration flue gas can guide the real-time adjustment of treatment devices, and then furtherly prevent the excessive emission of pollutants. The process monitoring variables, which are usually high-dimensional time series, can provide valuable information for prediction. Although process features and cross-series correlations can be captured through feature extraction techniques, they are commonly linear transformation, and conducted or trained separately from forecasting model. This process is inefficient and might not be an optimal solution for the following forecasting modeling. Therefore, we propose a time series encoding temporal convolutional network (TSE-TCN). By parameterizing the hidden representation of the encoding-decoding structure with the temporal convolutional network (TCN), and combining the reconstruction error and the prediction error in the objective function, the encoding-decoding procedure and the temporal predicting procedure can be trained by a single optimizer. The effectiveness of the proposed method is verified through an industrial reaction and regeneration process of an FCC unit. Results demonstrate that TSE-TCN outperforms some state-of-art methods with lower root mean square error (RMSE) by 2.74% and higher R2 score by 3.77%.

Human-Guided Reinforcement Learning With Sim-to-Real Transfer for Autonomous Navigation

Reinforcement learning (RL) is a promising approach in unmanned ground vehicles (UGVs) applications, but limited computing resource makes it challenging to deploy a well-behaved RL strategy with sophisticated neural networks. Meanwhile, the training of RL on navigation tasks is difficult, which requires a carefully-designed reward function and a large number of interactions, yet RL navigation can still fail due to many corner cases. This shows the limited intelligence of current RL methods, thereby prompting us to rethink combining RL with human intelligence. In this paper, a human-guided RL framework is proposed to improve RL performance both during learning in the simulator and deployment in the real world. The framework allows humans to intervene in RL's control progress and provide demonstrations as needed, thereby improving RL's capabilities. An innovative human-guided RL algorithm is proposed that utilizes a series of mechanisms to improve the effectiveness of human guidance, including human-guided learning objective, prioritized human experience replay, and human intervention-based reward shaping. Our RL method is trained in simulation and then transferred to the real world, and we develop a denoised representation for domain adaptation to mitigate the simulation-to-real gap. Our method is validated through simulations and real-world experiments to navigate UGVs in diverse and dynamic environments based only on tiny neural networks and image inputs. Our method performs better in goal-reaching and safety than existing learning- and model-based navigation approaches and is robust to changes in input features and ego kinetics. Furthermore, our method allows small-scale human demonstrations to be used to improve the trained RL agent and learn expected behaviors online.

Synchronization of multiple rigid body systems: A survey

The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion.

Self-* Capabilities of Cloud-Edge Nodes: A Research Review

Most recent edge and fog computing architectures aim at pushing cloud-native traits at the edge of the network, reducing latency, power consumption, and network overhead, allowing operations to be performed close to data sources. To manage these architectures in an autonomous way, systems that materialize in specific computing nodes must deploy self-* capabilities minimizing human intervention across the continuum of computing equipment. Nowadays, a systematic classification of such capabilities is missing, as well as an analysis on how those can be implemented. For a system owner in a continuum deployment, there is not a main reference publication to consult to determine what capabilities do exist and which are the sources to rely on. In this article, a literature review is conducted to analyze the self-* capabilities needed to achieve a self-* equipped nature in truly autonomous systems. The article aims to shed light on a potential uniting taxonomy in this heterogeneous field. In addition, the results provided include conclusions on why those aspects are too heterogeneously tackled, depend hugely on specific cases, and shed light on why there is not a clear reference architecture to guide on the matter of which traits to equip the nodes with.