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The ability to accurately predict others' behavior is central to the safety and efficiency of robotic systems in interactive settings, such as human–robot interaction and multi-robot teaming tasks. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents' goals, attention, and willingness to cooperate. Dual control theory addresses this challenge by treating unknown parameters of a predictive model as stochastic hidden states and inferring their values at runtime using information gathered during system operation. While able to optimally and automatically trade off exploration and exploitation, dual control is computationally intractable for general interactive motion planning, mainly due to the fundamental coupling between the robot's trajectory plan and its prediction of other agents' intent. In this paper, we present a novel algorithmic approach to enable active uncertainty reduction for interactive motion planning based on the implicit dual control paradigm. Our approach relies on sampling-based approximation of stochastic dynamic programming, leading to a model predictive control problem that can be readily solved by real-time gradient-based optimization methods. The resulting policy is shown to preserve the dual control effect for a broad class of predictive models with both continuous and categorical uncertainty. To ensure the safe operation of the interacting agents, we use a runtime safety filter (also referred to as a "shielding" scheme), which overrides the robot's dual control policy with a safety fallback strategy when a safety-critical event is imminent. We then augment the dual control framework with an improved variant of the recently proposed shielding-aware robust planning scheme, which proactively balances the nominal planning performance with the risk of high-cost emergency maneuvers triggered by low-probability agent behaviors. We demonstrate the efficacy of our approach with both simulated driving studies and hardware experiments using 1/10 scale autonomous vehicles. [ABSTRACT FROM AUTHOR]

This paper proposes a path-planning method for 3D information collection on the space station surface via the hyper-redundant space robot (HSR). Firstly, to efficiently acquire information on the space station surface, the space station is reduced to a cylindrical model for modelling, and the initial mapping of the temperature field is carried out by a popular Gaussian process. Based on the active information collection method, the collision-free viewpoint trajectory of the space station surface can be planned to improve the efficiency of surface information collection. Then, the path planning of the space station surface information collection can be realized by importing the space station model and temperature field data and performing weight initialization, stochastic search, and continuous optimization. Finally, simulation experiments show that the root-mean-square errors in the surface information collection process are lower than 1 mm relative to the true value. It proves the effectiveness of the online information collection path-planning (IP) method. [ABSTRACT FROM AUTHOR]

Lactic acid bacteria (LAB) are industrially important bacteria that are widely used in the fermented food industry, especially in the manufacture of yogurt. The fermentation characteristics of LAB are an important factor affecting the physicochemical properties of yogurts. Here, different ratios of L. delbrueckii subsp. bulgaricus IMAU20312 and S. thermophilus IMAU80809 were compared with a commercial starter JD (control) for their effects on viable cell counts, pH values, titratable acidity (TA), viscosity and water holding capacity (WHC) of milk during fermentation. Sensory evaluation and flavour profiles were also determined at the end of fermentation. All samples had a viable cell count above 5.59 × 107 CFU/mL at the end of fermentation, and a significant increase in TA and decrease in pH were observed. Viscosity, WHC and the sensory evaluation results of one treatment ratio (A3) were closer to the commercial starter control than the others. A total of 63 volatile flavour compounds and 10 odour-active (OAVs) compounds were detected in all treatment ratios and the control according to the results from solid-phase micro-extraction–gas chromatography–mass spectrometry (SPME–GC–MS). Principal components analysis (PCA) also indicated that the flavour characteristics of the A3 treatment ratio were closer to the control. These results help us understand how the fermentation characteristics of yogurts are affected by the ratio of L. delbrueckii subsp. bulgaricus to S. thermophilus in starter cultures; this is useful for the development of value-added fermented dairy products. [ABSTRACT FROM AUTHOR]