The aim of this master's thesis is the implementation of optimal trajectory planning for an airplane flying in lower altitudes, which has to avoid collision with obstacles. For the planning we assume static and fully known environment. There are described principals, optimality and complexity for some chosen methods of planning in this thesis. And based on the methods' characteristics it's chosen the best method for implementation.

M. Tech. (Department of Information and Communication Technology, Faculty of Applied and Computer Sciences), Vaal University of Technology / Simultaneous Localization and Mapping (SLAM) has seen tremendous interest amongst the research community in recent years due to its ability to make the robot truly independent in navigation. Visual Simultaneous Localization and Mapping (VSLAM) is when an autonomous mobile robot is embedded with a vision sensor such as monocular, stereo vision, omnidirectional or Red Green Blue Depth (RGBD) camera to localize and map an unknown environment. The purpose of this research is to address the problem of environmental noise, such as light intensity in a static environment, which has been an issue that makes a Visual Simultaneous Localization and Mapping (VSLAM) system to be ineffective. In this study, we have introduced a Light Filtering Algorithm into the Visual Simultaneous Localization and Mapping (VSLAM) method to reduce the amount of noise in order to improve the robustness of the system in a static environment, together with the Extended Kalman Filter (EKF) algorithm for localization and mapping and A* algorithm for navigation. Simulation is utilized to execute experimental performance. Experimental results show a 60% landmark or landfeature detection of the total landmark or landfeature within a simulation environment and a root mean square error (RMSE) of 0.13m, which is minimal when compared with other Simultaneous Localization and Mapping (SLAM) systems from literature. The inclusion of a Light Filtering Algorithm has enabled the Visual Simultaneous Localization and Mapping (VSLAM) system to navigate in an obscure environment.

Data mining (DM) is the process of finding patterns and relationships in databases. The breakthrough in computer technologies triggered a massive growth in data collected and maintained by organisations. In many applications, these data arrive continuously in large volumes as a sequence of instances known as a data stream. Mining these data is known as stream data mining. Due to the large amount of data arriving in a data stream, each record is normally expected to be processed only once. Moreover, this process can be carried out on different sites in the organisation simultaneously making the problem distributed in nature. Distributed stream data mining poses many challenges to the data mining community including scalability and coping with changes in the underlying concept over time. In this thesis, the author hypothesizes that learning classifier systems (LCSs) - a class of classification algorithms - have the potential to work efficiently in distributed stream data mining. LCSs are an incremental learner, and being evolutionary based they are inherently adaptive. However, they suffer from two main drawbacks that hinder their use as fast data mining algorithms. First, they require a large population size, which slows down the processing of arriving instances. Second, they require a large number of parameter settings, some of them are very sensitive to the nature of the learning problem. As a result, it becomes difficult to choose a right setup for totally unknown problems. The aim of this thesis is to attack these two problems in LCS, with a specific focus on UCS - a supervised evolutionary learning classifier system. UCS is chosen as it has been tested extensively on classification tasks and it is the supervised version of XCS, a state of the art LCS. In this thesis, the architectural design for a distributed stream data mining system will be first introduced. The problems that UCS should face in a distributed data stream task are confirmed through a large number of experiments with UCS and the proposed architectural design. To overcome the problem of large population sizes, the idea of using a Neural Network to represent the action in UCS is proposed. This new system - called NLCS { was validated experimentally using a small fixed population size and has shown a large reduction in the population size needed to learn the underlying concept in the data. An adaptive version of NLCS called ANCS is then introduced. The adaptive version dynamically controls the population size of NLCS. A comprehensive analysis of the behaviour of ANCS revealed interesting patterns in the behaviour of the parameters, which motivated an ensemble version of the algorithm with 9 nodes, each using a different parameter setting. In total they cover all patterns of behaviour noticed in the system. A voting gate is used for the ensemble. The resultant ensemble does not require any parameter setting, and showed better performance on all datasets tested. The thesis concludes with testing the ANCS system in the architectural design for distributed environments proposed earlier. The contributions of the thesis are: (1) reducing the UCS population size by an order of magnitude using a neural representation; (2) introducing a mechanism for adapting the population size; (3) proposing an ensemble method that does not require parameter setting; and primarily (4) showing that the proposed LCS can work efficiently for distributed stream data mining tasks.

Data mining (DM) is the process of finding patterns and relationships in databases. The breakthrough in computer technologies triggered a massive growth in data collected and maintained by organisations. In many applications, these data arrive continuously in large volumes as a sequence of instances known as a data stream. Mining these data is known as stream data mining. Due to the large amount of data arriving in a data stream, each record is normally expected to be processed only once. Moreover, this process can be carried out on different sites in the organisation simultaneously making the problem distributed in nature. Distributed stream data mining poses many challenges to the data mining community including scalability and coping with changes in the underlying concept over time. In this thesis, the author hypothesizes that learning classifier systems (LCSs) - a class of classification algorithms - have the potential to work efficiently in distributed stream data mining. LCSs are an incremental learner, and being evolutionary based they are inherently adaptive. However, they suffer from two main drawbacks that hinder their use as fast data mining algorithms. First, they require a large population size, which slows down the processing of arriving instances. Second, they require a large number of parameter settings, some of them are very sensitive to the nature of the learning problem. As a result, it becomes difficult to choose a right setup for totally unknown problems. The aim of this thesis is to attack these two problems in LCS, with a specific focus on UCS - a supervised evolutionary learning classifier system. UCS is chosen as it has been tested extensively on classification tasks and it is the supervised version of XCS, a state of the art LCS. In this thesis, the architectural design for a distributed stream data mining system will be first introduced. The problems that UCS should face in a distributed data stream task are confirmed through a large number of experiments with UCS and the proposed architectural design. To overcome the problem of large population sizes, the idea of using a Neural Network to represent the action in UCS is proposed. This new system - called NLCS { was validated experimentally using a small fixed population size and has shown a large reduction in the population size needed to learn the underlying concept in the data. An adaptive version of NLCS called ANCS is then introduced. The adaptive version dynamically controls the population size of NLCS. A comprehensive analysis of the behaviour of ANCS revealed interesting patterns in the behaviour of the parameters, which motivated an ensemble version of the algorithm with 9 nodes, each using a different parameter setting. In total they cover all patterns of behaviour noticed in the system. A voting gate is used for the ensemble. The resultant ensemble does not require any parameter setting, and showed better performance on all datasets tested. The thesis concludes with testing the ANCS system in the architectural design for distributed environments proposed earlier. The contributions of the thesis are: (1) reducing the UCS population size by an order of magnitude using a neural representation; (2) introducing a mechanism for adapting the population size; (3) proposing an ensemble method that does not require parameter setting; and primarily (4) showing that the proposed LCS can work efficiently for distributed stream data mining tasks.

Data mining (DM) is the process of finding patterns and relationships in databases. The breakthrough in computer technologies triggered a massive growth in data collected and maintained by organisations. In many applications, these data arrive continuously in large volumes as a sequence of instances known as a data stream. Mining these data is known as stream data mining. Due to the large amount of data arriving in a data stream, each record is normally expected to be processed only once. Moreover, this process can be carried out on different sites in the organisation simultaneously making the problem distributed in nature. Distributed stream data mining poses many challenges to the data mining community including scalability and coping with changes in the underlying concept over time. In this thesis, the author hypothesizes that learning classifier systems (LCSs) - a class of classification algorithms - have the potential to work efficiently in distributed stream data mining. LCSs are an incremental learner, and being evolutionary based they are inherently adaptive. However, they suffer from two main drawbacks that hinder their use as fast data mining algorithms. First, they require a large population size, which slows down the processing of arriving instances. Second, they require a large number of parameter settings, some of them are very sensitive to the nature of the learning problem. As a result, it becomes difficult to choose a right setup for totally unknown problems. The aim of this thesis is to attack these two problems in LCS, with a specific focus on UCS - a supervised evolutionary learning classifier system. UCS is chosen as it has been tested extensively on classification tasks and it is the supervised version of XCS, a state of the art LCS. In this thesis, the architectural design for a distributed stream data mining system will be first introduced. The problems that UCS should face in a distributed data stream task are confirmed through a large number of experiments with UCS and the proposed architectural design. To overcome the problem of large population sizes, the idea of using a Neural Network to represent the action in UCS is proposed. This new system - called NLCS { was validated experimentally using a small fixed population size and has shown a large reduction in the population size needed to learn the underlying concept in the data. An adaptive version of NLCS called ANCS is then introduced. The adaptive version dynamically controls the population size of NLCS. A comprehensive analysis of the behaviour of ANCS revealed interesting patterns in the behaviour of the parameters, which motivated an ensemble version of the algorithm with 9 nodes, each using a different parameter setting. In total they cover all patterns of behaviour noticed in the system. A voting gate is used for the ensemble. The resultant ensemble does not require any parameter setting, and showed better performance on all datasets tested. The thesis concludes with testing the ANCS system in the architectural design for distributed environments proposed earlier. The contributions of the thesis are: (1) reducing the UCS population size by an order of magnitude using a neural representation; (2) introducing a mechanism for adapting the population size; (3) proposing an ensemble method that does not require parameter setting; and primarily (4) showing that the proposed LCS can work efficiently for distributed stream data mining tasks.