Biblio

The traditional KNN algorithm takes insufficient consideration of the spatial distribution of training samples, which leads to low accuracy in processing high-dimensional data sets. Moreover, the generation of k nearest neighbors requires all known samples to participate in the distance calculation, resulting in high time overhead. To solve these problems, a feature subspace based KNN algorithm (Feature Subspace KNN, FSS-KNN) is proposed in this paper. First, the FSS-KNN algorithm solves all the feature subspaces according to the distribution of the training samples in the feature space, so as to ensure that the samples in the same subspace have higher similarity. Second, the corresponding feature subspace is matched for the test set samples. On this basis, the search of k nearest neighbors is carried out in the corresponding subspace first, thus improving the accuracy and efficiency of the algorithm. Experimental results show that compared with the traditional KNN algorithm, FSS-KNN algorithm improves the accuracy and efficiency on Kaggle data set and UCI data set. Compared with the other four classical machine learning algorithms, FSS-KNN algorithm can significantly improve the accuracy.

Autonomous active exploration requires search algorithms that can effectively balance the need for workspace coverage with energetic costs. We present a strategy for planning optimal search trajectories with respect to the distribution of expected information over a workspace. We formulate an iterative optimal control algorithm for general nonlinear dynamics, where the metric for information gain is the difference between the spatial distribution and the statistical representation of the time-averaged trajectory, i.e. ergodicity. Previous work has designed a continuous-time trajectory optimization algorithm. In this paper, we derive two discrete-time iterative trajectory optimization approaches, one based on standard first-order discretization and the other using symplectic integration. The discrete-time methods based on first-order discretization techniques are both faster than the continuous-time method in the studied examples. Moreover, we show that even for a simple system, the choice of discretization has a dramatic impact on the resulting control and state trajectories. While the standard discretization method turns unstable, the symplectic method, which is structure-preserving, achieves lower values for the objective.