Hyperdimensional (HD) computing (also referred to as vector symbolic architectures, VSAs) offers a method for encoding symbols into vectors, allowing for those symbols to be combined in different ways to form other vectors in the same vector space. The vectors and operators form a compositional algebra, such that composite vectors can be decomposed back to their constituent vectors. Many useful algorithms have implementations in HD computing, such as classification, spatial navigation, language modeling, and logic. In this letter, we propose a spiking implementation of Fourier holographic reduced representation (FHRR), one of the most versatile VSAs. The phase of each complex number of an FHRR vector is encoded as a spike time within a cycle. Neuron models derived from these spiking phasors can perform the requisite vector operations to implement an FHRR. We demonstrate the power and versatility of our spiking networks in a number of foundational problem domains, including symbol binding and unbinding, spatial representation, function representation, function integration, and memory (i.e., signal delay).

Our neural architecture search algorithm progressively searches a tree of neural network architectures. Child nodes are created by inserting new layers determined by a transition graph into a parent network up to a maximum depth and pruned when performance is worse than its parent. This increases efficiency but makes the algorithm greedy. Simpler networks are successfully found before more complex ones that can achieve benchmark performance similar to other top-performing networks.

Accurate global localization is essential for planetary rovers to reach mission goals and mitigate operational risk. For initial exploration missions, it is inappropriate to deploy GPS or build other infrastructure for navigating. One way of determining global position is to use terrain relative navigation (TRN). TRN compares planetary rover-perspective images and 3D models to existing satellite orbital imagery and digital elevation models (DEMs) for absolute positioning. However, TRN is limited by the quality of orbital data and the presence and uniqueness of terrain features. This work presents a novel combination of belief space planning with terrain relative navigation. Additionally, we introduce a new method for increasing the robustness of belief space planning to noisy map data. The new algorithm provides a statistically significant reduction in localization uncertainty when tested on elevation data produced from lunar orbital imagery.

The virtual bumper is a safeguarding mechanism for autonomous and remotely operated robots to conservatively avoid collisions even in the face of sensor uncertainty. In this paper we take a new approach to the virtual bumper system by applying a powerful but rarely examined statistical test. By using a modified version of Wald's sequential probability ratio test, we demonstrate that we can reduce the number of false positives reported by the virtual bumper, thereby saving valuable mission time. We further use the concept of sequential probability ratio to control vehicle speed in the presence of possible obstacles in order to increase certainty about whether or not obstacles are present. With this principled obstacle certainty measure, our new algorithm reduces the chances of collision by approximately 98% relative to traditional virtual bumper safeguarding without speed control.

Adaptive exploration uses active learning principles to improve the efficiency of autonomous robotic surveys. This work considers an important and understudied aspect of autonomous exploration: in situ validation of remote sensing measurements. We focus on high- dimensional sensor data with a specific case study of spectroscopic mapping. A field robot refines an orbital image by measuring the surface at many wavelengths. We introduce a new objective function based on spectral unmixing that seeks pure spectral signatures to accurately model diluted remote signals. This objective reflects physical properties of the multi-wavelength data. The rover visits locations that jointly improve its model of the environment while satisfying time and energy constraints. We simulate exploration using alternative planning approaches, and show proof of concept results with the canonical spectroscopic map of a mining district in Cuprite, Nevada.

This paper presents an algorithm based on ecological models of foraging and that uses uncertainty in scientific observations made by the robot to value future actions. It is the hypothesis of this work that the foraging strategy will be an improvement over strategies based on principles from the design of experiments literature for small budget sizes. The experiment in this paper shows that for small budget sizes the new algorithm performs at least as well as other methods. However the new algorithm does not exhaust its sampling budget by default and thus needs to be modified to outperform other approaches for large sample budgets, which provides opportunity for future work in this area.

We investigate the problem of selecting a state-machine from a library to control a robot. We are particularly interested in this problem when evaluating such state machines on a particular robotics task is expensive. As a motivating example, we consider a problem where a simulated vacuuming robot must select a driving state machine well-suited for a particular (unknown) room layout. By borrowing concepts from collaborative filtering (recommender systems such as Netflix and Amazon.com), we present a multi-armed bandit formulation that incorporates recommendation techniques to efficiently select state machines for individual room layouts. We show that this formulation outperforms the individual approaches (recommendation, multi-armed bandits) as well as the baseline of selecting the `average best' state machine across all rooms.

We address the problem of adaptive information-optimal data collection in time series. Here a remote sensor or explorer agent throttles its sampling rate in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility - all collected datapoints lie in the past, but its resource allocation decisions require predicting far into the future. Our solution is to continually fit a Gaussian process model to the latest data and optimize the sampling plan on line to maximize information gain. We compare the performance characteristics of stationary and nonstationary Gaussian process models. We also describe an application based on geologic analysis during planetary rover exploration. Here adaptive sampling can improve coverage of localized anomalies and potentially benefit mission science yield of long autonomous traverses.