No abstract

This paper presents a survey of Simultaneous Localization And Mapping (SLAM) algorithms for unmanned ground robots. SLAM is the process of creating a map of the environment, sometimes unknown a priori, while at the same time localizing the robot in the same map. The map could be one of different types i.e. metrical, topological, hybrid or semantic. In this paper, the classification of algorithms is done in three classes: (i) Metric map generating approaches, (ii) Qualitative map generating approaches, and (iii) Hybrid map generating approaches. SLAM algorithms for both static and dynamic environments have been surveyed. The algorithms in each class are further divided based on the techniques used. The survey in this paper presents the current state-of-the-art methods, including important landmark works reported in the literature.

No abstract

Clusters of text documents output by clustering algorithms are often hard to interpret. We describe motivating real-world scenarios that necessitate reconfigurability and high interpretability of clusters and outline the problem of generating clusterings with interpretable and reconfigurable cluster models. We develop a clustering algorithm toward the outlined goal of building interpretable and reconfigurable cluster models; it works by generating rules with disjunctions and conditions on the frequencies of words, to decide on the membership of a document to a cluster. Each cluster is comprised of precisely the set of documents that satisfy the corresponding rule. We show that our approach outperforms the unsupervised decision tree approach by huge margins. We show that the purity and f-measure losses to achieve interpretability are as little as 5% and 3% respectively using our approach.

The objective of this study is to explore the possibility of capturing the reasoning process used in bidding a hand in a bridge game by an artificial neural network. We show that amultilayer feedforward neural network can be trained to learn to make an opening bid with a new hand. The game of bridge, like many other games used in artificial intelligence, can easily be represented in a machine. But, unlike most games used in artificial intelligence, bridge uses subtle reasoning over and above the agreed conventional system, to make a bid from the pattern of a given hand. Although it is difficult for a player to spell out the precise reasoning process he uses, we find that a neural network can indeed capture it. We demonstrate the results for the case of one-level opening bids, and discuss the need for a hierarchical architecture to deal with bids at all levels.