Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment. However, one of the limitations in the RRT* algorithm is slow convergence to optimal path solution. As a result, it consumes high memory as well as time due to a large number of iterations utilised in achieving optimal path solution. To overcome these limitations, we propose the Potential Function Based-RRT* (P-RRT*) that incorporates the Artificial Potential Field Algorithm in RRT*. The proposed algorithm allows a considerable decrease in the number of iterations and thus leads to more efficient memory utilization and an accelerated convergence rate. In order to illustrate the usefulness of the proposed algorithm in terms of space execution and convergence rate, this paper presents rigorous simulation based comparisons between the proposed techniques and RRT* under different environmental conditions. Moreover, both algorithms are also tested and compared under non-holonomic differential constraints.
The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been proposed that ensures asymptotic optimality. Subsequently its bidirectional version has also been introduced in the literature known as Bidirectional-RRT* (B-RRT*). We introduce a new variant called Intelligent Bidirectional-RRT* (IB-RRT*) which is an improved variant of the optimal RRT* and bidirectional version of RRT* (B-RRT*) algorithms and is specially designed for complex cluttered environments. IB-RRT* utilizes the bidirectional trees approach and introduces intelligent sample insertion heuristic for fast convergence to the optimal path solution using uniform sampling heuristics. The proposed algorithm is evaluated theoretically and experimental results are presented that compares IB-RRT* with RRT* and B-RRT*. Moreover, experimental results demonstrate the superior efficiency of IB-RRT* in comparison with RRT* and B-RRT in complex cluttered environments.
Mar 07 2017 cs.CR
Recombined fingerprints have been suggested as a convenient approach to improve the efficiency of anonymous fingerprinting for the legal distribution of copyrighted multimedia contents in P2P systems. The recombination idea is inspired by the principles of mating, recombination and heredity of the DNA sequences of living beings, but applied to binary sequences, like in genetic algorithms. However, the existing recombination-based fingerprinting systems do not provide a convenient solution for collusion resistance, since they require double-layer fingerprinting codes, making the practical implementation of such systems a challenging task. In fact, collusion resistance is regarded as the most relevant requirement of a fingerprinting scheme, and the lack of any acceptable solution to this problem would possibly deter content merchants from deploying any practical implementation of the recombination approach. In this paper, this drawback is overcome by introducing two non-trivial improvements, paving the way for a future real-life application of recombination-based systems. First, Nuida et al.'s collusion-resistant codes are used in segment-wise fashion for the first time. Second, a novel version of the traitor-tracing algorithm is proposed in the encrypted domain, also for the first time, making it possible to provide the buyers with security against framing. In addition, the proposed method avoids the use of public-key cryptography for the multimedia content and expensive cryptographic protocols, leading to excellent performance in terms of both computational and communication burdens. The paper also analyzes the security and privacy properties of the proposed system both formally and informally, whereas the collusion resistance and the performance of the method are shown by means of experiments and simulations.
The use of peer-to-peer (P2P) networks for multimedia distribution has spread out globally in recent years. The mass popularity is primarily driven by cost-effective distribution of content, also giving rise to piracy. An end user (buyer/peer) of a P2P content distribution system does not want to reveal his/her identity during a transaction with a content owner (merchant), whereas the merchant does not want the buyer to further distribute the content illegally. To date, different P2P distribution systems have been proposed that provide copyright and privacy protection at a cost of high computational burden at the merchants and/or at the buyer's end and thus, making these systems impractical. In this paper, we propose PSUM, a P2P content distribution system which allows efficient distribution of large-sized multimedia content while preserving the security and privacy of merchants and buyers. The security of PSUM is ensured by using an asymmetric fingerprinting protocol based on collusion-resistant codes. In addition, PSUM enables buyers to obtain digital contents anonymously, but this anonymity can be revoked as soon as he/she is found guilty of copyright violation. The paper presents a thorough performance analysis of PSUM, through different experiments and simulations, and also analyzes several security compromising attacks and countermeasures.
For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social interaction skills after 14 days of interacting with people in an uncontrolled real world. Each and every day during the 14 days, the system gathered robot interaction experiences with people through a hit-and-trial method and then trained the MDARQN on these experiences using end-to-end reinforcement learning approach. The results of interaction based learning indicate that the robot has learned to respond to complex human behaviors in a perceivable and socially acceptable manner.
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills through a trial and error method. This paper aims to develop a robot that gathers data during its interaction with a human and learns human interaction behaviour from the high-dimensional sensory information using end-to-end reinforcement learning. This paper demonstrates that the robot was able to learn basic interaction skills successfully, after 14 days of interacting with people.