Ajeet kumar

Ajeet Kumar, Alexander Vladimirsky

We introduce a new and efficient numerical method for multicriterion optimal control and single criterion optimal control under integral constraints. The approach is based on extending the state space to include information on a "budget" remaining to satisfy each constraint; the augmented Hamilton-Jacobi-Bellman PDE is then solved numerically. The efficiency of our approach hinges on the causality in that PDE, i.e., the monotonicity of characteristic curves in one of the newly added dimensions. A semi-Lagrangian "marching" method is used to approximate the discontinuous viscosity solution efficiently. We compare this to a recently introduced "weighted sum" based algorithm for the same problem. We illustrate our method using examples from flight path planning and robotic navigation in the presence of friendly and adversarial observers.

Kanishk ., Rushil Kumar, Vikas Rastogi et al.

Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear control schemes like H-infinity control and predictive control, the application of Reinforcement Learning(RL) can provide alternative solutions. This article presents the implementation of RL control with Deep Deterministic Policy Gradient and Proximal Policy Optimization on a mobile self-balancing Extendable Wheeled Inverted Pendulum (E-WIP) system with provided state history to attain improved control. Such RL models make the task of finding satisfactory control schemes easier and responding to the dynamics effectively while self-tuning the parameters to provide better control. In this article, RL-based controllers are pitted against an MPC controller to evaluate the performance on the basis of state variables and trajectory errors of the E-WIP system while following a specific desired trajectory.

Rajesh Kumar Mundotiya, Shantanu Kumar, Ajeet kumar et al.

In Natural Language Processing (NLP) pipelines, Named Entity Recognition (NER) is one of the preliminary problems, which marks proper nouns and other named entities such as Location, Person, Organization, Disease etc. Such entities, without a NER module, adversely affect the performance of a machine translation system. NER helps in overcoming this problem by recognising and handling such entities separately, although it can be useful in Information Extraction systems also. Bhojpuri, Maithili and Magahi are low resource languages, usually known as Purvanchal languages. This paper focuses on the development of a NER benchmark dataset for the Machine Translation systems developed to translate from these languages to Hindi by annotating parts of their available corpora. Bhojpuri, Maithili and Magahi corpora of sizes 228373, 157468 and 56190 tokens, respectively, were annotated using 22 entity labels. The annotation considers coarse-grained annotation labels followed by the tagset used in one of the Hindi NER datasets. We also report a Deep Learning based baseline that uses an LSTM-CNNs-CRF model. The lower baseline F1-scores from the NER tool obtained by using Conditional Random Fields models are 96.73 for Bhojpuri, 93.33 for Maithili and 95.04 for Magahi. The Deep Learning-based technique (LSTM-CNNs-CRF) achieved 96.25 for Bhojpuri, 93.33 for Maithili and 95.44 for Magahi.