On the algorithmic solution of optimization problems subject to probabilistic/robust (probust) constraints

We present an adaptive grid refinement algorithm to solve probabilistic optimization problems with infinitely many random constraints. Using a bilevel approach, we iteratively aggregate inequalities that provide most information not in a geometric but in a probabilistic sense. This conceptual idea, for which a convergence proof is provided, is then adapted to an implementable algorithm. The efficiency of our approach when compared to naive methods based on uniform grid refinement is illustrated for a numerical test example as well as for a water reservoir problem with joint probabilistic filling level constraints.

Double shear layer evolution on the non-uniform computational mesh

This paper considers the canonical problem of a thin shear layer evolution at Reynolds number Re = 400000 using the novel Compact Accurately Boundary Adjusting high-Resolution Technique (CABARET). The study is focused on the effect of the specific mesh refinement in the high shear rate areas on the flow properties under the influence of the developing instability. The original sequence of computational meshes (256^2, 512^2, 1024^2, 2048^2 cells) is modified using an iterative refinement algorithm based on the hyperbolic tangent. The properties of the solutions obtained are discussed in terms of the initial momentum thickness and the initial vorticity thickness, viscous and dilatational dissipation rates and also integral enstrophy. The growth rate for the most unstable mode depending on the mesh resolution is considered. In conclusion the accuracy of calculated mesh functions is estimated via L1, L2, L∞ norms.

DEL-based Epistemic Planning for Human-Robot Collaboration: Theory and Implementation

Epistemic planning based on Dynamic Epistemic Logic (DEL) allows agents to reason and plan from the perspective of other agents. The framework of DEL-based epistemic planning thereby has the potential to represent significant aspects of Theory of Mind in autonomous robots, and to provide a foundation for human-robot collaboration in which coordination is achieved implicitly through perspective shifts. In this paper, we build on previous work in epistemic planning with implicit coordination. We introduce a new notion of indistinguishability between epistemic states based on bisimulation, and provide a novel partition refinement algorithm for computing unique representatives of sets of indistinguishable states. We provide an algorithm for computing implicitly coordinated plans using these new constructs, embed it in a perceive-plan-act agent loop, and implement it on a robot. The planning algorithm is benchmarked against an existing epistemic planning algorithm, and the robotic implementation is demonstrated on human-robot collaboration scenarios requiring implicit coordination.

A Disparity Refinement Algorithm for Satellite Remote Sensing Images Based on Mean-Shift Plane Segmentation

Objects in satellite remote sensing image sequences often have large deformations, and the stereo matching of this kind of image is so difficult that the matching rate generally drops. A disparity refinement method is needed to correct and fill the disparity. A method for disparity refinement based on the results of plane segmentation is proposed in this paper. The plane segmentation algorithm includes two steps: Initial segmentation based on mean-shift and alpha-expansion-based energy minimization. According to the results of plane segmentation and fitting, the disparity is refined by filling missed matching regions and removing outliers. The experimental results showed that the proposed plane segmentation method could not only accurately fit the plane in the presence of noise but also approximate the surface by plane combination. After the proposed plane segmentation method was applied to the disparity refinement of remote sensing images, many missed matches were filled, and the elevation errors were reduced. This proved that the proposed algorithm was effective. For difficult evaluations resulting from significant variations in remote sensing images of different satellites, the edge matching rate and the edge matching map are proposed as new stereo matching evaluation and analysis tools. Experiment results showed that they were easy to use, intuitive, and effective.