Research Publications
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| This paper is concerned with obstacle avoidance of robots moving on a plane, based on a fluid mechanical principle known as the Circle Theorem. Considering the motion region as a fictitious fluid environment surrounding the obstacles, fluid ... This paper is on obstacle avoidance of swarms of robots moving in certain geometric planar formations. Focus is given to a particular obstacle avoidance approach, which is based on the fluid mechanical principle known as the Circle Theorem. ... This paper proposes an engineering design view of process modelling that helps address the issues of complexity and rigidity of many current process models. In this view, processes are modelled as artefacts that need to be designed, realised and managed ... Vision-based hand pointing interactive systems always assumed that users’ physical pointing accuracy are perfect, but this may not be the case. We investigated the accuracy provided by users in three pointing strategies. Result showed that pointing ... Architecture evaluation methods provide general guidelines to assess quality attributes of systems, which are not necessarily straightforward to practice with. With COTS middleware based systems, this assessment process is further complicated by the ... Componentised systems, in particular those with fault confinement through address spaces, are currently emerging as a hot topic in embedded systems research. This paper extends the unified rate-based scheduling framework RBED in several dimensions to ... This is a short invited presentation about the importance of evaluation in research (including Ph.D. research). It is a part of a course lecture for the UNSW graduate course GSOE9400 "Engineering Postgraduate Research Essentials" ( This paper presents a view of innovation as a process that changes value systems of producers and adopters of creative design ideas. Value systems comprise interpretations of the function and behaviour of an artefact, encapsulated in a producer’s or ... This paper presents the formal Isabelle/HOL framework we use to prove refinement between an executable, monadic specification and the C implementation of the seL4 microkernel. We describe the refinement framework itself, the automated tactics it ... This paper presents a separation-logic framework for reasoning about low-level C code in the presence of virtual memory. We describe our abstract, generic Isabelle/HOL framework for reasoning about virtual memory in separation logic, and we instantiate... We propose to showcase the experiment facility control, management & measurement framework (OMF) with an experiment demonstrating a common investigative life cycle. The demo scenario will highlight the steps from the idea, to simulations, and finally ... Risk management is a function that is common to systems and software engineering and integration projects, offering the potential to significantly contribute to delivery outcomes. However, prior research indicates that while awareness of the importance of... Whether you use the staged or continuous representation, CMMI encourages you to adopt a fixed collection of Specific Practices within each Process Area. But if you want to implement your process improvement incrementally, which Specific Practice should ... Static program analysis complements traditional dynamic testing by discovering generic patterns and relations in source code, which indicate software deficiencies such as memory corruption, unexpected program behavior and memory leaks. Since static ... In this work we introduce a novel approach for removing false positives in static program analysis. We present an incremental algorithm that investigates paths to failure locations with respect to feasibility. The feasibility test it done by interval ... Many useful XML transformations can be expressed by deterministic top-down tree transducers. A normal form is presented for such transducers (extended with the facility to inspect their input trees). A transducer in normal form has a unique canonical ... Background: Currently there are no objective blood tests that could accurately differentiate between Stable Angina (SA) and Unstable Angina (UA). As inflammation is important in both SA and UA, we investigated whether antibody microarrays can effectively ... ETX (Expected Transmission Count) is the best routing metric for single radio wireless mesh network (WMN) in terms of throughput as it selects the links with highest packet delivery paths. In our experiments, however, we found that under some scenarios ... This paper provides modal- and relational characterisations of may- and must-testing preorders for recursive CSP processes with divergence, featuring probabilistic as well as nondeterministic choice. May testing is characterised in terms of simulation,... Argumentation games have been proved to be a robust and flexible tool to resolve conflicts among agents. An agent can propose its explanation and its goal known as a claim, which can be refuted by other agents. The situation is more complicated when ... In this paper we propose a method for vision only topological simultaneous localisation and mapping (SLAM). Our approach does not use motion or odometric information but a sequence of colour histograms from visited places. In particular, we address the ... Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require motion or odometry information but only a sequence of noisy ... Macro tree transducers are a classical formal model for structural-recursive tree transformation with accumulative parameters. Recently they have been applied to model XML transformations and queries. Typechecking a tree transformation means to check if... Cadoli et. al. noted the potential of first order automated reasoning for the purpose of analysing constraint models, and reported some encouraging initial experimental results. We are currently pursuing a very similar research program with a view to ... We present a new calculus for first-order theorem proving with equality, \MESUP, which generalizes both the Superposition calculus and the Model Evolution calculus (with equality) by integrating their inference rules and redundancy criteria in ... We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a probabilistically grounded multi-hypothesis technique that relies ... Markov Decision Processes with Imprecise Transition Probabilities (MDP-IPs) can model a wide range of fully observable sequential decision making problems when the transition probabilities are not completely specified. Such specification of imprecise ... This paper presents the state of the art in biologically inspired ant based routing in wireless Mobile Ad hoc NETworks (MANET). The motivation for using ant-like mobile agents for providing routing information to mobile hosts in MANETs stems from the fact... Wireless mesh networks (WMNs) comprise of mobile and static nodes which communicate wirelessly. WMNs have several unique features such as self-organizing, self-configuring and self-healing and are being used in many applications such as metropolitan area ... We present a graphical model which encodes a series of hierarchical constraints for classifying image regions at multiple scales. We show that inference in this model can be performed efficiently and exactly, rendering it amenable to structured ... Novelty detection is an important tool for unsupervised data analysis. It relies on finding regions of low density within which events are then flagged as novel. By design this is dependent on the underlying measure of the space. In this paper we ... Many traditional methods for shape classification involve establishing point correspondences between shapes to produce matching scores, which are in turn used as similarity measures for classification. Learning techniques have been applied only in the... As a fundamental problem in pattern recognition, graph matching has applications in a variety of fields, from computer vision to computational biology. In graph matching, patterns are modeled as graphs and pattern recognition amounts to finding a ... Topic models are a discrete analogue to principle component analysis and independent component analysis that model topic at the word level within a document. They have many variants such as NMF, PLSI and LDA, and are used in many fields such as genetics... This report is the background theory for Discrete Component Analysis software called DCA. Currently the software is run in stand-alone mode, and scavengers data streaming libraries and Dirichlet utilities from the older MPCA system1. The software itself... This report is the software development and installation guide for the Discrete Component Analysis (DCA) software for Version 0.200. It includes a description of input and output files, the C code base, prerequisites and installation, and a guide to ... This report is a user guide for the Discrete Component Analysis (DCA) software in development, Version 0.200. It shows how to use the software, and should be read in conjunction with the worked examples in the examples/ directory. Multiple-instance Learning (MIL) is a new paradigm of supervised learning that deals with the classification of bags. Each bag is presented as a collection of instances from which features are extracted. In MIL, we have usu- ally confronted with a ... This paper concerns itself with the development and design of fast features suitable for time constrained object detection. Primarily we consider three aspects of feature design; the form of the precomputed datatype (e.g. the integral image), the form ... We propose Range and Roots which are two common patterns useful for specifying a wide range of counting and occurrence constraints. We design specialised propagation algorithms for these two patterns. Counting and occurrence constraints specified using ... We perform simultaneous monitoring of OSNR and residual chromatic dispersion by solving the Wiener-Hopf equation using matrix inversion. The effectiveness of this method over a wide range of received optical power is investigated using simulations. dTouch is a novel 3D pointing system that attempts to allow interaction with large displays from the use of a single webcam. An initial evaluation to demonstrate the feasibility of our pointing technique is presented. We compared our prototype with a ... We show that some common and important global constraints like \alldiff and \gcc can be decomposed into simple arithmetic constraints on which we achieve bound or range consistency, and in some cases even greater pruning. These decompositions ... Network-to-network interference measurements for nearby, uncoordinated BANs, where the networks cause co-channel interference. Implications for interference mitigation (Extended abstract) Both Royal Australian Air Force (RAAF) and Border Protection Command (BPC) aircraft fly maritime surveillance missions for the Australian Government on a regular basis. These missions involve searching particular areas of interest ... This paper focuses on tone classification for the Vietnamese speech. Traditionally, tone was classified or recognized by the fundamental frequency F0. However, our experimental results indicate that along with the fundamental frequency, Mel Frequency ... It is evident that mobile devices of the future will have multiple wireless interfaces. For small, energy-constrained devices, determining network availability by keeping all radio interfaces turned on at all times will negatively impact battery lifetime... There is a growing interest in applying agile approaches practices in Global Software Development (GSD) projects. Recently, some studies have reported the use of Scrum practices in distributed development projects. However, little is known about how these... With the mobile communication market increasingly moving towards value-added services the network cost will need to be included in the service offering itself. This will lead service providers to optimize network usage based on real cost rather than the ... Social Networks have been a world-wide phenomenon and their proliferation poses a serious interoperability and usability challenge to both end users and service providers. Recently governments have seen this new opportunity to gather input from public ... Social Networks are going through a new era with their expansion on Internet. While most of the virtual connections are reflecting real life connections, online tools can also be used to create real life connections from the virtual connections. Civic ... Open forms of global constraints allow the addition of new variables to an argument during the execution of a constraint program. Such forms are needed for difficult constraint programming problems where problem construction and problem solving are ... Multi-agent path planning on grid maps is a challenging problem and has numerous real-life applications. Running a centralized, systematic search such as A* is complete and cost-optimal but scales up poorly in practice, since both the search space and the... Planning with temporally extended goals and uncontrollable events has recently been introduced as a formal model for system reconfiguration problems. An important application is to automatically reconfigure a real-life system in such a way that its ... A method for diagnosing the operational mode of a hybrid dynamical system is presented. This methodology allows discrete diagnosis capabilities to be integrated with the continuous time dynamics of hybrid dynamical networks. The method is novel in that ... Real-time dynamic programming (RTDP) solves Markov decision processes (MDPs) when the initial state is restricted, by focusing dynamic programming on the envelope of states reachable from an initial state set. RTDP often provides performance guarantees... We investigate classes of systems based on different interaction patterns with the aim of achieving distributability. As our system model we use Petri nets. In Petri nets, an inherent concept of simultaneity is built in, since when a transition has more ... Deciding consistency of constraint networks is a fundamental problem in qualitative spatial and temporal reasoning. In this paper we introduce a divide-and-conquer method that recursively partitions a given problem into smaller sub-problems in ... Anytime search algorithms solve optimisation problems by quickly finding a usually suboptimal solution and then finding improved solutions when given additional time. To deliver a solution quickly, they are typically greedy with respect to the ... We show that tools from circuit complexity can be used to study decompositions of global constraints. In particular, we study decompositions of global constraints into conjunctive normal form with the property that unit propagation on the ... Voting is a simple mechanism to aggregate the preferences of agents. Many voting rules have been shown to be NP-hard to manipulate. However, a number of recent theoretical results suggest that this complexity may only be in the worst-case since ... Management (monitoring and control) of service-oriented systems is needed to ensure their regular operation, attain guaranteed quality of service (QoS), and accommodate changes. Monitoring measures technical QoS (e.g., response time, availability) and/or ... Crosswords have been an extremely popular puzzle across the world for many decades. The automated generation of crosswords grids is a multi-disciplinary artificial intelligence domain. The puzzle has been used as a benchmark in constraint programming.... In the satisfiability domain, it is well-known that a SAT algorithm may solve a problem instance easily and another instance hardly, whilst these two instances are equivalent CNF encodings of the original problem. Moreover, different algorithms may ... Being a short, two-page summary, there is no abstract in this paper. |