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Exploration of reinforcement learning algorithms for autonomous vehicle visual perception and control / Florence Carton (2021)
Titre : Exploration of reinforcement learning algorithms for autonomous vehicle visual perception and control Titre original : Exploration des algorithmes d'apprentissage par renforcement pour la perception et le controle d'un véhicule autonome par vision Type de document : Thèse/HDR Auteurs : Florence Carton, Auteur ; David Filliat, Directeur de thèse Editeur : Paris : Ecole Nationale Supérieure des Techniques Avancées ENSTA Année de publication : 2021 Importance : 173 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l’Institut Polytechnique de Paris, Spécialité : Informatique, Données, IALangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Intelligence artificielle
[Termes IGN] apprentissage par renforcement
[Termes IGN] classification dirigée
[Termes IGN] instrument embarqué
[Termes IGN] navigation autonome
[Termes IGN] reconnaissance de formes
[Termes IGN] réseau neuronal profond
[Termes IGN] robot mobile
[Termes IGN] segmentation sémantique
[Termes IGN] vision par ordinateurIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Reinforcement learning is an approach to solve a sequential decision making problem. In this formalism, an autonomous agent interacts with an environment and receives rewards based on the decisions it makes. The goal of the agent is to maximize the total amount of rewards it receives. In the reinforcement learning paradigm, the agent learns by trial and error the policy (sequence of actions) that yields the best rewards.In this thesis, we focus on its application to the perception and control of an autonomous vehicle. To stay close to human driving, only the onboard camera is used as input sensor. We focus in particular on end-to-end training, i.e. a direct mapping between information from the environment and the action chosen by the agent. However, training end-to-end reinforcement learning for autonomous driving poses some challenges: the large dimensions of the state and action spaces as well as the instability and weakness of the reinforcement learning signal to train deep neural networks.The approaches we implemented are based on the use of semantic information (image segmentation). In particular, this work explores the joint training of semantic information and navigation.We show that these methods are promising and allow to overcome some limitations. On the one hand, combining segmentation supervised learning with navigation reinforcement learning improves the performance of the agent and its ability to generalize to an unknown environment. On the other hand, it enables to train an agent that will be more robust to unexpected events and able to make decisions limiting the risks.Experiments are conducted in simulation, and numerous comparisons with state of the art methods are made. Note de contenu : 1- Introduction
2- Supervised learning and reinforcement learning background
3- State of the art
4- End-to-end autonomous driving on circuit with reinforcement learning
5- From lane following to robust conditional driving
6- Exploration of methods to reduce overfit
7- ConclusionNuméro de notice : 28325 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE Nature : Thèse étrangère Note de thèse : Thèse de Doctorat : Informatique, Données, IA : ENSTA : 2021 DOI : sans En ligne : https://tel.hal.science/tel-03273748/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98363
Titre : Learning digital geographies through geographical artificial intelligence Type de document : Thèse/HDR Auteurs : Pengyuan Liu, Auteur ; Stefano de Sabbata, Directeur de thèse ; Yu-Dong Zhang, Directeur de thèse Editeur : Leicester [Royaume-Uni] : University of Leicester Année de publication : 2021 Importance : 199 p. Format : 21 x 30 cm Note générale : bibliographie
A thesis submitted in fulfillment of the requirements for the degree of Doctor of Philosophy, Geology and EnvironmentLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Analyse spatiale
[Termes IGN] analyse de groupement
[Termes IGN] analyse socio-économique
[Termes IGN] apprentissage profond
[Termes IGN] contenu généré par les utilisateurs
[Termes IGN] croissance urbaine
[Termes IGN] détection de changement
[Termes IGN] données issues des réseaux sociaux
[Termes IGN] données localisées des bénévoles
[Termes IGN] données spatiotemporelles
[Termes IGN] géomatique web
[Termes IGN] intelligence artificielle
[Termes IGN] Londres
[Termes IGN] réseau neuronal de graphes
[Termes IGN] réseau sémantique
[Termes IGN] système d'information urbain
[Termes IGN] zone urbaineIndex. décimale : THESE Thèses et HDR Résumé : (auteur) As the distinction between online and physical spaces rapidly degrades, digital platforms have become an integral component of how people’s everyday experiences are mediated. User-generated content (UGC) shared on such platforms provides insights into how users want to represent their everyday lives, which augments and reinforces our understanding of local communities through time and layers dynamic information across and over the geographic space. Inspired by the development of the newly arisen scientific disciplines within geography: geographical artificial intelligence (GeoAI), this thesis adopts deep learning approaches on graph representations of human dynamics illustrated through geotagged UGC to explore how place representations are augmented and reinforced through users’ spatial experiences by classifying their multimedia activities and identifying the spatial clusters of UGC at the urban scale. Having the place representations described through UGC, this thesis explores how these representations can be used in conjunction with various official spatial statistics to understand and predict the dynamic changes of the socio-economic characteristics of places. The principal contributions of this thesis are: (1) to provide frameworks with higher classification and prediction accuracy but requiring fewer sample data; thus, contributing to an advanced framework to summarise spatial characteristics of places; (2) to show that multimedia content provides rich information regarding places, the use of space, and people’s experience of the landscape; thus, benefiting a better understanding of place representations; (3) to illustrate that the spatial patterns of UGC can be adopted as a valuable proxy to understand urban development and neighbourhood change; (4) to reinforce the concept that Spatial is Special. Spatial processes are commonly spatially autocorrelated. The mainstream of machine learning methods do not explicitly incorporate the spatial or spatio-temporal component to address such a speciality of spatial data. This thesis highlights the importance of explicitly incorporating spatial or spatio-temporal components in geographical analysis models. Note de contenu : 1- Introduction
2- Towards quantitative digital geographies: Concepts, research and implications
3- Data and methods
4- Classification learning through a graph-based semi-supervised approach
5- Location estimation of social media content through a graph-based linkPrediction
6- Urban change modelling with spatial knowledge graphs
7- DiscussionNuméro de notice : 28629 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Thèse étrangère Note de thèse : PhD Thesis: Geology and Environment: Leicester : 2021 DOI : sans En ligne : https://leicester.figshare.com/articles/thesis/Learning_Digital_Geographies_thro [...] Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99618 Learning embeddings for cross-time geographic areas represented as graphs / Margarita Khokhlova (2021)
Titre : Learning embeddings for cross-time geographic areas represented as graphs Type de document : Article/Communication Auteurs : Margarita Khokhlova , Auteur ; Nathalie Abadie , Auteur ; Valérie Gouet-Brunet , Auteur ; Liming Chen, Auteur Editeur : New York [Etats-Unis] : Association for computing machinery ACM Année de publication : 2021 Projets : Alegoria / Gouet-Brunet, Valérie Conférence : SAC 2021, 36th Annual ACM Symposium on Applied Computing 22/03/2021 26/03/2021 en ligne Proceedings ACM Importance : pp 559 - 568 Format : 21 x 30 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] arête
[Termes IGN] classification par réseau neuronal
[Termes IGN] entité géographique
[Termes IGN] graphe flou
[Termes IGN] image aérienne à axe vertical
[Termes IGN] noeud
[Termes IGN] relation spatiale
[Termes IGN] représentation graphique
[Termes IGN] réseau neuronal de graphesRésumé : (auteur) Geographic entities from the vertical aerial images can be viewed as discrete objects and represented as nodes in a graph, linked to each other by edges capturing their spatial relationships. Over time, the natural and man made landscape may evolve and thus also their graph representations. This paper addresses the challenging problem of the retrieval and fuzzy matching of graphs to localize near-identical geographical areas across time. Several use-case scenarios are proposed for the end-to-end learning of a graph embedding using Graph Neural Networks (GNN), along with an effective baseline without learning. The results demonstrate the efficiency of our approach, that enables efficient similarity reasoning for novel hand-engineered cross-time graph data. Code and data processing scripts are available online. Numéro de notice : C2021-002 Affiliation des auteurs : UGE-LASTIG+Ext (2020- ) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1145/3412841.3441936 En ligne : https://doi.org/10.1145/3412841.3441936 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97583 Machine learning for the distributed and dynamic management of a fleet of taxis and autonomous shuttles / Tatiana Babicheva (2021)
Titre : Machine learning for the distributed and dynamic management of a fleet of taxis and autonomous shuttles Titre original : Machine Learning pour la gestion distribuée et dynamique d’une flotte de taxis et navettes autonomes Type de document : Thèse/HDR Auteurs : Tatiana Babicheva, Auteur ; Leïla Kloul, Directeur de thèse ; Dominique Barth, Directeur de thèse Editeur : Bures-sur-Yvette : Université Paris-Saclay Année de publication : 2021 Importance : 190 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l'Université Paris-Saclay, InformatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géomatique
[Termes IGN] apprentissage par renforcement
[Termes IGN] autopartage
[Termes IGN] calcul d'itinéraire
[Termes IGN] méthode heuristique
[Termes IGN] navigation autonome
[Termes IGN] OpenStreetMap
[Termes IGN] optimisation (mathématiques)
[Termes IGN] réseau neuronal artificiel
[Termes IGN] réseau routier
[Termes IGN] taxi
[Termes IGN] trafic routier
[Termes IGN] trafic urbain
[Termes IGN] véhicule électrique
[Termes IGN] ville intelligenteIndex. décimale : THESE Thèses et HDR Résumé : (auteur) In this thesis are investigated methods to manage shared electric autonomous taxi urban systems under online context in which customer demands occur over time, and where vehicles are available for ride-sharing and require electric recharging management. We propose the heuristics based on problem decomposition which include road network repartition and highlighting of subproblems such as charging management, empty vehicle redistribution and dynamic ride-sharing.The set of new methods for empty vehicle redistribution is proposed, such as proactive, meaning to take into account both current demand and anticipated future demand, in contrast to reactive methods, which act based on current demand only.We provide the reinforcement learning in different levels depending on granularity of the system.We propose station-based RL model for small networks and zone-based RL model, where the agents are zones of the city obtained by partitioning, for huge ones. The complete information optimisation is provided in order to analyse the system performance a-posteriori in offline context.The evaluation of the performance of proposed methods is provided in set of road networks of different nature and size. The proposed method provides promising results outperforming the other tested methods and the real data on the taxi system performance in terms of number of satisfied passengers under fixed fleet size. Note de contenu : 1- Introduction
2- State-of-the-art
3- Modelling the electrical aTaxisystem
4- Functional architecture of aTaxi system management
5- Reinforcement learning for aTaxi system optimisation
6- Evaluation scenarii
7- Numerical evaluation of aTaxi systems
8- Conclusion and discussionNuméro de notice : 28591 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Thèse française Note de thèse : thèse de Doctorat : Informatique : Paris-Saclay : 2021 Organisme de stage : Données et Algorithmes pour une ville intelligente et durable (UVSQ) DOI : sans En ligne : https://tel.hal.science/tel-03230845/ Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97968 A new method for improving the performance of an ionospheric model developed by multi-instrument measurements based on artificial neural network / Wang Li in Advances in space research, vol 67 n° 1 (January 2021)
[article]
Titre : A new method for improving the performance of an ionospheric model developed by multi-instrument measurements based on artificial neural network Type de document : Article/Communication Auteurs : Wang Li, Auteur ; Changyong He , Auteur ; Andong Hu, Auteur ; Dongsheng Zhao, Auteur ; Yi Shen, Auteur ; Kefei Zhang, Auteur Année de publication : 2021 Article en page(s) : pp 20 - 34 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] correction ionosphérique
[Termes IGN] image Formosat/COSMIC
[Termes IGN] modèle ionosphérique
[Termes IGN] réseau neuronal artificiel
[Termes IGN] teneur totale en électronsRésumé : (auteur) There are remarkable ionospheric discrepancies between space-borne (COSMIC) measurements and ground-based (ionosonde) observations, the discrepancies could decrease the accuracies of the ionospheric model developed by multi-source data seriously. To reduce the discrepancies between two observational systems, the peak frequency (foF2) and peak height (hmF2) derived from the COSMIC and ionosonde data are used to develop the ionospheric models by an artificial neural network (ANN) method, respectively. The averaged root-mean-square errors (RMSEs) of COSPF (COSMIC peak frequency model), COSPH (COSMIC peak height model), IONOPF (Ionosonde peak frequency model) and IONOPH (Ionosonde peak height model) are 0.58 MHz, 19.59 km, 0.92 MHz and 23.40 km, respectively. The results indicate that the discrepancies between these models are dependent on universal time, geographic latitude and seasons. The peak frequencies measured by COSMIC are generally larger than ionosonde’s observations in the nighttime or middle-latitudes with the amplitude of lower than 25%, while the averaged peak height derived from COSMIC is smaller than ionosonde’s data in the polar regions. The differences between ANN-based maps and references show that the discrepancies between two ionospheric detecting techniques are proportional to the intensity of solar radiation. Besides, a new method based on the ANN technique is proposed to reduce the discrepancies for improving ionospheric models developed by multiple measurements, the results indicate that the RMSEs of ANN models optimized by the method are 14–25% lower than the models without the application of the method. Furthermore, the ionospheric model built by the multiple measurements with the application of the method is more powerful in capturing the ionospheric dynamic physics features, such as equatorial ionization, Weddell Sea, mid-latitude summer nighttime and winter anomalies. In conclusion, the new method is significant in improving the accuracy and physical characteristics of an ionospheric model based on multi-source observations. Numéro de notice : A2021-986 Affiliation des auteurs : ENSG+Ext (2020- ) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.asr.2020.07.032 Date de publication en ligne : 16/12/2020 En ligne : https://doi.org/10.1016/j.asr.2020.07.032 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102912
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