325991
Online simultaneous localization and mapping with detection and tracking of moving objects: theory and results from a ground vehicle in crowded urban areas
The simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) problem is not only to solve the SLAM problem in dynamic environments but also to detect and track these dynamic objects. In this paper, we derive the Bayesian formula of the SLAM with DATMO problem, which provides a solid basis for understanding and solving this problem. In addition, we provide a practical algorithm for performing DATMO from a moving platform equipped with range sensors. The probabilistic approach to solve the whole problem has been implemented with the Navlab11 vehicle. More than 100 miles of experiments in crowded urban areas indicated that SLAM with DATMO is indeed feasible.
9860662
Interacting Object Tracking in Crowded Urban Areas
Tracking in crowded urban areas is a daunting task. High crowdedness causes challenging data association problems. Different motion patterns from a wide variety of moving objects make motion modeling difficult. Accompanying with traditional motion modeling techniques, this paper introduces a scene interaction model and a neighboring object interaction model to respectively take long-term and short-term interactions between the tracked objects and its surroundings into account. With the use of the interaction models, anomalous activity recognition is accomplished easily. In addition, move-stop hypothesis tracking is applied to deal with move-stop-move maneuvers. All these approaches are seamlessly inter-graded under the variable-structure multiple-model estimation framework. The proposed approaches have been demonstrated using data from a laser scanner mounted on the PALI robot at a crowded intersection. Interacting pedestrians, bicycles, motorcycles, cars and trucks are successfully tracked in difficult situations with occlusion.
11387042
Predicate learning and selective theory deduction for a difference logic solver
Design and verification of systems at the register-transfer (RT) or behavioral level require the ability to reason at higher levels of abstraction. Difference logic consists of an arbitrary Boolean combination of propositional variables and difference predicates and therefore provides an appropriate abstraction. In this paper, we present several new optimization techniques for efficiently deciding difference logic formulas. We use the lazy approach by combining a DPLL Boolean SAT procedure with a dedicated graph-based theory solver, which adds transitivity constraints among difference predicates on a "need-to" basis. Our new optimization techniques include flexible theory constraint propagation, selective theory deduction, and dynamic predicate learning. We have implemented these techniques in our lazy solver. We demonstrate the effectiveness of the proposed techniques on public benchmarks through a set of controlled experiments
34505121
Adaptive Path-Based Multicast on Wormhole-Routed Hypercubes
In this paper, we consider path-based multicast on wormhole-routed hypercubes. A minimum set of routing restrictions is used as the base routing algorithm. To correctly perform multicast, we present the natural list to sort the destination nodes. It can be proved to be deadlock-free for both one-port and multi-port systems. Furthermore, it creates only one worm for each multicast. Between each pair of nodes in a multicast path with distance k, on the average, there are at least (k+1)!/2k adaptive shortest paths, which is superior to previous works. We also propose a heuristic algorithm to reduce the path length. The simulation result shows that its sustainable throughput is much better than related works. In addition, unicast and broadcast can be treated as degenerated cases and use the same routing algorithm. Therefore, it offers a comprehensive routing solution for communication on hypercubes.
46393116
Learning Approximate MRFs from Large Transaction Data
In this paper we consider the problem of learning approximate Markov Random Fields (MRFs) from large transaction data. We rely on frequent itemsets to learn MRFs on the data. Since learning exact large MRFs is generally intractable, we resort to learning approximate MRFs. Our proposed modeling approach first employs graph partitioning to cluster variables into balanced disjoint partitions, and then augments important interactions across partitions to capture interdependencies across them. A novel treewidth based augmentation scheme is proposed to boost performance. We learn an exact local MRF for each partition and then combine all the local MRFs together to derive a global model of the data. A greedy approximate inference scheme is developed on this global model. We demonstrate the use of the learned MRFs on the selectivity estimation problem. Empirical evaluation on real datasets demonstrates the advantage of our approach over extant solutions.
14760800
Deciding Separation Logic Formulae by SAT and Incremental Negative Cycle Elimination
Separation logic is a subset of the quantifier-free first order logic. It has been successfully used in the automated verification of systems that have large (or unbounded) integer-valued state variables, such as pipelined processor designs and timed systems. In this paper, we present a fast decision procedure for separation logic, which combines Boolean satisfiability (SAT) with a graph based incremental negative cycle elimination algorithm. Our solver abstracts a separation logic formula into a Boolean formula by replacing each predicate with a Boolean variable. Transitivity constraints over predicates are detected from the constraint graph and added on a need-to basis. Our solver handles Boolean and theory conflicts uniformly at the Boolean level. The graph based algorithm supports not only incremental theory propagation, but also constant time theory backtracking without using a cumbersome history stack. Experimental results on a large set of benchmarks show that our new decision procedure is scalable, and outperforms existing techniques for this logic.
10395010
Abstraction and BDDs Complement SAT-Based BMC in DiVer
Bounded Model Checking (BMC) based on Boolean Satisfiability (SAT) procedures has recently gained popularity for finding bugs in large designs. However, due to its incompleteness, there is a need to perform deeper searches for counterexamples, or a proof by induction where possible. The DiVer verification platform uses abstraction and BDDs to complement BMC in the quest for completeness. We demonstrate the effectiveness of our approach in practice on industrial designs.