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As changes in external environments are inevitable, a lifelong mapping system is desirable for autonomous robots that aim at long-term operation. Capturing external environment changes into internal representations (for example, maps) is crucial for proper behavior and safety, especially in the case of autonomous vehicles. In this work, we propose a new large-scale mapping system for our autonomous vehicle or any other. The new mapping system is based on the Graph SLAM algorithm, with extensions to deal with the calibration of odometry directly in the optimization of the graph and to address map merging for long-term map maintenance. The mapping system can use sensor data from one or more robots to build and merge different types of occupancy grid maps. The system&#39;s performance is evaluated in a series of experiments carried out with data captured in complex real-world scenarios. The experimental results indicate that the new large-scale mapping system can provide high-quality occupancy grid maps for later navigation and localization of autonomous vehicles.

BRACIS 2021

Long-term Map Maintenance in Complex Environments

mapping

autonomous vehicles

slam

ICPR 2020 is the premier international conference on Pattern Recognition, gathering leading researchers from around the world to present their latest achievements in Pattern Analysis and Recognition, applied Artificial Intelligence and Machine Learning. The topic of the year is " Putting Artificial intelligence to work on Patterns". 
For the first time, ICPR has employed a two-round review process similar to journal submissions, with new papers allowed to be submitted in either the first or second round and papers submitted in the first round and not accepted allowed to be revised and re-submitted for second round review. 

In this edition of the **ICPR 2020** Conference, there are 1407 Oral/Poster presentations organized in five Tracks: 
- Artificial Intelligence, Machine Learning for Pattern Analysis; 
- Biometrics, Human Analysis and Behavior Understanding; Computer Vision, Robotics and Intelligent Systems; 
- Document and Media Analysis; and 
- Image and Signal Processing. 

The **ICPR 2020** Main Conference program also includes 7 Keynotes from prominent world-renowned scientists, 8 Tutorials, 28 Demos, 8 Challenges, 2 Panels, as well as an Industry/Sponsor Exhibition. In addition, 41 Workshops on a range of important current and emerging research topics complete the ICPR 2020 program. 


ICPR 2020

As changes in external environments are inevitable, a lifelong mapping system is desirable for autonomous robots that aim at long-term operation. Capturing external environment changes into internal representations (for example, maps) is crucial for proper behavior and safety, especially in the case of autonomous vehicles. In this work, we propose a new large-scale mapping system for our autonomous vehicle or any other. The new mapping system is based on the Graph SLAM algorithm, with extensions to deal with the calibration of odometry directly in the optimization of the graph and to address map merging for long-term map maintenance. The mapping system can use sensor data from one or more robots to build and merge different types of occupancy grid maps. The system's performance is evaluated in a series of experiments carried out with data captured in complex real-world scenarios. The experimental results indicate that the new large-scale mapping system can provide high-quality occupancy grid maps for later navigation and localization of autonomous vehicles.

technical paper

**BRACIS** originated from the combination of the two most important scientific events in Brazil in Artificial Intelligence (AI) and Computational Intelligence (CI): the Brazilian Symposium on Artificial Intelligence – **SBIA** (22 editions), and the Brazilian Symposium on Neural Networks – **SBRN** (13 editions). **ENIAC** is a national forum for researchers, practitioners, educators and students to present and discuss innovations, trends, experiences, developments and work in progress in the fields of Artificial and Computational Intelligence. **STIL** is the bi-annual Language Technology event.
All events are supported by the Brazilian Computer Society – Special Interest Groups: **CE-IA**, **CE-IC** and **CE-PLN**.

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BRACIS originated from the combination of the two most important scientific events in Brazil in Artificial Intelligence (AI) and Computational Intelligence (CI): the Brazilian Symposium on Artificial Intelligence – SBIA (22 editions), and the Brazilian Symposium on Neural Networks – SBRN (13 editions). 
ENIAC is a national forum for researchers, practitioners, educators and students to present and discuss innovations, trends, experiences, developments and work in progress in the fields of Artificial and Computational Intelligence. 
STIL is the bi-annual Language Technology event.
All events are supported by the Brazilian Computer Society – Special Interest Groups: CE-IA, CE-IC and CE-PLN

Argumentation-based persuasive negotiation is a form of negotiation dialogue in which agents, with different interests and goals, exchange proposals that are supported by rhetorical arguments such as threats, rewards, or appeals. Besides rhetorical arguments, additional kinds of illocutions may also be exchanged during the dialogue, for instance, agents may ask for explanations, give explanations, or attack (or contradict) previous arguments. This paper presents a formal protocol for argumentation-based persuasive negotiation dialogues in which a proponent agent tries to persuade his opponent to perform a given action and the opponent tries to maintain his position. The protocol is modelled as a dialogue game (i.e. the interactions between the proponent and the opponent are governed by a set of rules) and the outcome of the dialogue is determined by applying an argumentation semantics. We prove the soundness and completeness of our proposal and illustrate the proposed protocol by using an example.

A Protocol for Argumentation-based Persuasive Negotiation Dialogues

Bed allocation in hospitals is a critical and important problem, and it has become even more important since last year because of the COVID-19 pandemic. In this paper, we present an approach based on intelligent-agent technologies to assist hospital staff in charge of bed allocation. As part of this work, we developed a web-based simulation of a hospital bed allocation system integrated with a chatbot for interaction with the user. As a core component in our approach, an intelligent agent uses the feedback of a plan validator to check if there are any flaws in a user-made allocation, communicating any detected problems to the user using natural language through the chatbot. Thus, our resulting application not only validates bed allocation plans but also interacts with hospital professionals using natural language communication, including giving explainable suggestions of better alternative allocations. We evaluated our approach with professionals responsible for bed allocation in two local hospitals and a doctor who provides consultancy to another local hospital. The version of the system reported in this paper addresses all the suggestions made by the specialists who evaluated its previous version.

A Conversational Agent to Support Hospital Bed Allocation

The Quadratic Assignment Problem (QAP) can be subdivided into different versions, being present in several real-world applications. In this work, it is used a version that considers many objectives. QAP is an NP-hard problem, so approximate algorithms are used to address it. This work analyzes a Hyper-Heuristic (HH) that selects genetic operators to be applied during the evolutionary process. HH is based on the NSGA-III framework and on the Thompson Sampling approach. Our main contribution is the analysis of the use of a many objective algorithm using HH for QAP, as this problem was still under-explored in the context of many objective optimization. Furthermore, we analyze the behavior of operators forward the changes related to HH (TS). The proposal was tested considering 42 instances with 5, 7 and 10 objectives. The results, interpreted using the Friedman statistical test, were satisfactory when compared to the original algorithm (without HH), as well as when compared to algorithms in the literature: MOEA/DD, MOEA/D, SPEA2, NSGA-II and MOEA/D-DRA.

Hyper-Heuristic based NSGA-III for the Many-Objective Quadratic Assignment Problem

Particle Swarm Optimization (PSO) algorithms are swarm intelligence methods that are effective in solving optimization problems. However, current techniques have some drawbacks: the particles of some PSO implementations are sensible to their input hyper-parameters, lack direction diversity in their movement, have rotational variance, and might prematurely converge due to rapid swarm diversity loss. This article addresses these issues by introducing Rotationally Invariant Attractive and Repulsive eXpanded PSO (RI-AR-XPSO) and Rotationally Invariant Semi-Autonomous eXpanded PSO (RI-SAXPSO) as improvements of Rotationally Invariant Semi-Autonomous PSO (RI-SAPSO) and eXpanded PSO (XPSO). Their swarm behavior was evaluated with classic functions in the literature and their accuracy was tested with the Congress on Evolutionary Computation (CEC) 2017 optimization problems, in whose results a statistical significance test was applied. The results obtained attest that strategies such as diversity control, automatic hyper-parameter adjustment, directional diversity, and rotational invariance improve performance without accuracy loss when adequately implemented.

Improving particle swarm optimization with self-adaptive parameters, rotational invariance, and diversity control.

This paper presents a novel Multiobjective Genetic Algorithm, named Modied Non-Dominated Sorting Genetic Algorithm Distance Oriented (MNSGA-DO), which aims to adjust the NSGA-DO selection operator to improve its diversity when applied to continuous multiobjective optimization problems. In order to validate this new Genetic Algorithm, we carried out a performance comparison among it and the genetic algorithms NSGA-II and NSGA-DO, regarding continuous multiobjective optimization problems. To this aim, a set of standard benchmark problems, the so-called ZDT functions, was applied considering the quality indicators Generational Distance, Inverted Generational Distance and Hypervolume as well as a time evaluation. The results demonstrate that MNSGA-DO overcomes NSGA-II and NSGA-DO in almost all benchmarks, obtaining more accurate solutions and diversity.

A Modified NSGA-DO for Solving Multiobjective Optimization Problems

General and adaptive strategies have been a highly pursued goal of the optimization community, due to the domain-dependent set of configurations (operators and parameters) that is usually required for achieving high quality solutions. This work investigates a Deep Q-Network (DQN) selection strategy under an online selection Hyper-Heuristic algorithm and compares it with two state-of-the-art Multi-Armed Bandit (MAB) approaches. We conducted the experiments on all six problem domains from the HyFlex Framework. With our definition of state representation and reward scheme, the DQN was able to quickly identify the good and bad operators, which resulted on better performance than the MAB strategies on the problem instances that a more exploitative behavior deemed advantageous.


Online selection of heuristic operators with Deep Q-Netowrk: a study on the HyFlex Framework

Hyper-heuristics (HHs) are algorithms suitable for designing heuristics. HHs perform the search divided in two levels: they look for heuristic components in the high level and the heuristic is used, in the low level, to solve a set of instances of one or more problems. Different from offline HHs, hyper-heuristics with dynamic learning select or generate heuristics during the search. This paper proposes a hyper-heuristic associated with a dynamic learning strategy for selecting Iterated Greedy (IG) components. The proposal is capable of selecting appropriate values for six IG components: local search, perturbation, destruction size, neighborhood size, destruction position and local search focus. The proposed HH is tested with six dynamic adaptation strategies: random, e-greedy, probability matching, multi-armed bandit, LinUCB, and Thompson Sampling (TS). The hyper-parameters of each strategy are tuned by irace. As a testbed, we use several instances with four different sizes (20, 50, 100 and 200 jobs) of three different formulations of flowshop problems (permutation, no-wait, no-idle), two distinct objectives (makespan, flowtime), and four processing time distributions (uniform, exponential and job or machine correlated). The results show that different strategies are most suitable for adapting different IG components, TS performs quite well for all components and, except for local search, using adaptation is always beneficial when compared with the IG running with standard parameters.

Dynamic Learning in Hyper-Heuristics to Solve Flowshop Problems

Gene Regulatory Networks (GRNs) inference from gene expression data is a hard task and a widely addressed challenge. GRNs can be represented as Boolean models similarly to digital circuits. Cartesian Genetic Programming (CGP), often used for designing circuits, can thus be adopted in the inference of GRNs. The main CGP operator for generating candidate designs is mutation, making its choice important for obtaining good results. Although there are many mutation operators for CGP, to the best of our knowledge, there is no analysis of them in the GRN inference problem. An evaluation of the Single ActiveMutation (SAM) and the Semantically-Oriented Mutation Operator (SOMO)is performed here for GRNs inference. Also, a combination of both operators is proposed. We use a benchmark single-cell RNA-Sequencingtime series data and its evaluation pipeline to measure the performance of the approaches. The experiments indicate that (i) combining SOMOand SAM provides the best results, and (ii) the results obtained by the proposal are competitive with those from state-of-the-art methods.

On the Analysis of CGP Mutation Operators when Inferring Gene Regulatory Networks using scRNA-Seq Time Series Data

This work focuses on the enrichment of existing Portuguese word embeddings with visual information in the form of visual embeddings. This information was extracted from images portraying given vocabulary terms and imagined visual embeddings learned for terms with no image data. These enriched embeddings were tested against their text-only counterparts in common NLP tasks. The results show an increase in performance for several tasks, which indicates that visual information fusion for word embeddings can be useful for word embedding based NLP tasks.

Enriching Portuguese Word Embeddings with Visual Information

Several coarsening algorithms have been developed as a powerful strategy to deal with difficult machine learning problems represented by large-scale networks, including, network visualization, trajectory mining, community detection and dimension reduction. It iteratively reduces the original network into a hierarchy of gradually smaller informative representations. However, few of these algorithms have been specifically designed to deal with bipartite networks and they still face theoretical limitations that need to be explored. Specifically, a recently introduced algorithm, called MLPb, is based on a synchronous label propagation strategy. In spite of an interesting approach, it presents the following two problems: 1) A high-cost search strategy in dense networks and 2) the cyclic oscillation problem yielded by the synchronous propagation scheme. In this paper, we address these issues and propose a novel fast coarsening algorithm more suitable for large-scale bipartite networks. Our proposal introduces a semi-synchronous strategy via cross-propagation, which allows a time-effective implementation and deeply reduces the oscillation phenomenon. The empirical analysis in both synthetic networks and real-world networks shows that our coarsening strategy outperforms previous approaches regarding accuracy and runtime.

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Long-term Map Maintenance in Complex Environments

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A Protocol for Argumentation-based Persuasive Negotiation Dialogues

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