scholarly journals Deep Meta-Learning Energy-Aware Path Planner for Unmanned Ground Vehicles in Unknown Terrains

Author(s):  
Marco Visca

This paper presents an adaptive energy-aware prediction and planning framework for vehicles navigating over terrains with varying and unknown properties. A novel feature of the method is the use of a deep meta-learning framework to learn a prior energy model, which can efficiently adapt to the local terrain conditions based on small quantities of exteroceptive and proprioceptive data. A meta-adaptive heuristic function is also proposed for the integration of the energy model into an A* path planner. The performance of the proposed approach is assessed in a 3D-body dynamic simulator over several typologies of deformable terrains, and compared with alternative machine learning solutions. We provide evidence of the advantages of the proposed method to adapt to unforeseen terrain conditions, thereby yielding more informed estimations and energy-efficient paths, when navigating on unknown terrains.<div>Submitted for revision to IEEE Transaction on Cybernetics.</div>

2021 ◽  
Author(s):  
Marco Visca

This paper presents an adaptive energy-aware prediction and planning framework for vehicles navigating over terrains with varying and unknown properties. A novel feature of the method is the use of a deep meta-learning framework to learn a prior energy model, which can efficiently adapt to the local terrain conditions based on small quantities of exteroceptive and proprioceptive data. A meta-adaptive heuristic function is also proposed for the integration of the energy model into an A* path planner. The performance of the proposed approach is assessed in a 3D-body dynamic simulator over several typologies of deformable terrains, and compared with alternative machine learning solutions. We provide evidence of the advantages of the proposed method to adapt to unforeseen terrain conditions, thereby yielding more informed estimations and energy-efficient paths, when navigating on unknown terrains.<div>Submitted for revision to IEEE Transaction on Cybernetics.</div>


2021 ◽  
pp. 1-1
Author(s):  
Qi Liu ◽  
Xinyu Zhang ◽  
Yongxiang Liu ◽  
Kai Huo ◽  
Weidong Jiang ◽  
...  

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Samar Ali Shilbayeh ◽  
Sunil Vadera

Purpose This paper aims to describe the use of a meta-learning framework for recommending cost-sensitive classification methods with the aim of answering an important question that arises in machine learning, namely, “Among all the available classification algorithms, and in considering a specific type of data and cost, which is the best algorithm for my problem?” Design/methodology/approach This paper describes the use of a meta-learning framework for recommending cost-sensitive classification methods for the aim of answering an important question that arises in machine learning, namely, “Among all the available classification algorithms, and in considering a specific type of data and cost, which is the best algorithm for my problem?” The framework is based on the idea of applying machine learning techniques to discover knowledge about the performance of different machine learning algorithms. It includes components that repeatedly apply different classification methods on data sets and measures their performance. The characteristics of the data sets, combined with the algorithms and the performance provide the training examples. A decision tree algorithm is applied to the training examples to induce the knowledge, which can then be used to recommend algorithms for new data sets. The paper makes a contribution to both meta-learning and cost-sensitive machine learning approaches. Those both fields are not new, however, building a recommender that recommends the optimal case-sensitive approach for a given data problem is the contribution. The proposed solution is implemented in WEKA and evaluated by applying it on different data sets and comparing the results with existing studies available in the literature. The results show that a developed meta-learning solution produces better results than METAL, a well-known meta-learning system. The developed solution takes the misclassification cost into consideration during the learning process, which is not available in the compared project. Findings The proposed solution is implemented in WEKA and evaluated by applying it to different data sets and comparing the results with existing studies available in the literature. The results show that a developed meta-learning solution produces better results than METAL, a well-known meta-learning system. Originality/value The paper presents a major piece of new information in writing for the first time. Meta-learning work has been done before but this paper presents a new meta-learning framework that is costs sensitive.


Author(s):  
Han-joon Kim

This chapter introduces two practical techniques for improving Naïve Bayes text classifiers that are widely used for text classification. The Naïve Bayes has been evaluated to be a practical text classification algorithm due to its simple classification model, reasonable classification accuracy, and easy update of classification model. Thus, many researchers have a strong incentive to improve the Naïve Bayes by combining it with other meta-learning approaches such as EM (Expectation Maximization) and Boosting. The EM approach is to combine the Naïve Bayes with the EM algorithm and the Boosting approach is to use the Naïve Bayes as a base classifier in the AdaBoost algorithm. For both approaches, a special uncertainty measure fit for Naïve Bayes learning is used. In the Naïve Bayes learning framework, these approaches are expected to be practical solutions to the problem of lack of training documents in text classification systems.


Author(s):  
Yusuf Özçevik ◽  
Elif Bozkaya ◽  
Mertkan Akkoç ◽  
Muhammed Erol ◽  
Berk Canberk

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