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  • Curse of Dimensionality  (2)
  • memory-based learning  (2)
  • Aircraft Design, Testing and Performance
  • 1
    Electronic Resource
    Electronic Resource
    The Parti-game Algorithm for Variable Resolution Reinforcement Learning in Multidimensional State-spaces (1995)
    Springer
    Machine learning 21 (1995), S. 199-233 
    Details
    ISSN: 0885-6125
    Keywords: Reinforcement Learning ; Curse of Dimensionality ; Learning Control ; Robotics ; kd-trees
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract Parti-game is a new algorithm for learning feasible trajectories to goal regions in high dimensional continuous state-spaces. In high dimensions it is essential that neither planning nor exploration occurs uniformly over a state-space. Parti-game maintains a decision-tree partitioning of state-space and applies techniques from game-theory and computational geometry to efficiently and adaptively concentrate high resolution only on critical areas. The current version of the algorithm is designed to find feasible paths or trajectories to goal regions in high dimensional spaces. Future versions will be designed to find a solution that optimizes a real-valued criterion. Many simulated problems have been tested, ranging from two-dimensional to nine-dimensional state-spaces, including mazes, path planning, non-linear dynamics, and planar snake robots in restricted spaces. In all cases, a good solution is found in less than ten trials and a few minutes.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022656217772
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    Paper (German National Licenses)
    Fulltext
  • 2
    Electronic Resource
    Electronic Resource
    The parti-game algorithm for variable resolution reinforcement learning in multidimensional state-spaces (1995)
    Springer
    Machine learning 21 (1995), S. 199-233 
    Details
    ISSN: 0885-6125
    Keywords: Reinforcement Learning ; Curse of Dimensionality ; Learning Control ; Robotics ; kd-trees
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract Parti-game is a new algorithm for learning feasible trajectories to goal regions in high dimensional continuous state-spaces. In high dimensions it is essential that neither planning nor exploration occurs uniformly over a state-space. Parti-game maintains a decision-tree partitioning of state-space and applies techniques from game-theory and computational geometry to efficiently and adaptively concentrate high resolution only on critical areas. The current version of the algorithm is designed to find feasible paths or trajectories to goal regions in high dimensional spaces. Future versions will be designed to find a solution that optimizes a real-valued criterion. Many simulated problems have been rested, ranging from two-dimensional to nine-dimensional state-spaces, including mazes, path planning, non-linear dynamics, and planar snake robots in restricted spaces. In all cases, a good solution is found in less than ten trials and a few minutes.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00993591
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    Paper (German National Licenses)
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  • 3
    Electronic Resource
    Electronic Resource
    Locally Weighted Learning for Control (1997)
    Springer
    Artificial intelligence review 11 (1997), S. 75-113 
    Details
    ISSN: 1573-7462
    Keywords: locally weighted regression ; LOESS ; LWR ; lazy learning ; memory-based learning ; least commitment learning ; forward models ; inverse models ; linear quadratic regulation (LQR) ; shifting setpoint algorithm ; dynamic programming
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract Lazy learning methods provide useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of complex systems. This paper surveys ways in which locally weighted learning, a type of lazy learning, has been applied by us to control tasks. We explain various forms that control tasks can take, and how this affects the choice of learning paradigm. The discussion section explores the interesting impact that explicitly remembering all previous experiences has on the problem of learning to control.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1006511328852
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    Paper (German National Licenses)
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  • 4
    Electronic Resource
    Electronic Resource
    Locally Weighted Learning (1997)
    Springer
    Artificial intelligence review 11 (1997), S. 11-73 
    Details
    ISSN: 1573-7462
    Keywords: locally weighted regression ; LOESS ; LWR ; lazy learning ; memory-based learning ; least commitment learning ; distance functions ; smoothing parameters ; weighting functions ; global tuning ; local tuning ; interference
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper surveys locally weighted learning, a form of lazy learning and memory-based learning, and focuses on locally weighted linear regression. The survey discusses distance functions, smoothing parameters, weighting functions, local model structures, regularization of the estimates and bias, assessing predictions, handling noisy data and outliers, improving the quality of predictions by tuning fit parameters, interference between old and new data, implementing locally weighted learning efficiently, and applications of locally weighted learning. A companion paper surveys how locally weighted learning can be used in robot learning and control.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1006559212014
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    Paper (German National Licenses)
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  • 5
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    Bounding Methods for Heterogeneous Lidar-derived Navigational Geofences (2019)
    In:  CASI
    Details
    Publication Date: 2019-10-01
    Description: Safe Unmanned Aerial Vehicle (UAV) operations near the ground require navigation methods that avoid fixed obstacles such as buildings, power lines and trees. Aerial lidar surveys of ground structures are available with the precision and accuracy to geolocate obstacles, but the high volume of raw survey data can exceed the compute power of onboard processors and the rendering ability of ground-based flight planning maps. Representing ground structures with bounding polyhedra instead of point clouds greatly reduces the data size and can enable effective obstacle avoidance, as long as the bounding geometry envelopes the structures with high spatial fidelity. This report describes in detail four methods to compute bounding geometries of ground obstacles from lidar point clouds. The four methods are: 1) 2.5D Maximum Elevation Box, 2) 2.5D Ground Map Extrusion, 3) 3D Bounding Cylinder, and 4) 3D Bounding Box. The methods are applied to five point cloud datasets from lidar surveys of UAV flight research sites in Georgia and Virginia with an average point spacing that ranges from 0.1m to 0.6m. The methods are assessed using survey areas with geometrically heterogeneous ground structures: buildings, vegetation, power lines, and sub-meter structures such as road signs and guy wires. The 2.5D Maximum Elevation Box method is useful for simple structures. The 2.5D Ground Map Extrusion method efficiently encloses vegetation, but requires handdrawn ground footprints. The 3D Bounding Cylinder method excels at enclosing linear structures such as power lines and fences. The 3D Bounding Box method excels at enclosing planar structures such as buildings. The methods are compared on the basis of data compression and boundary fidelity on selected areas. The 2.5D methods yield the highest data compression but the polyhedra produced by them enclose significant amounts of empty space. Boundary fidelity is superior for the 3D methods, though this fidelity comes at the cost of a roughly thirtyfold lower data compression ratio than the 2.5D Maximum Elevation Box method. A mix of these output geometries is proposed for autonomous UAV navigation with limited on-board computing. Both the accuracy and spatial detail of emerging satellite-based survey technology lower than that of aerial lidar scanning survey technology. Sub-meter structures and thin linear structures are not reliably mapped at present by satellite-based surveys.
    Keywords: Aircraft Design, Testing and Performance
    Type: NF1676L-34257 , NASA/TM–2019-22399
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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