Autonomous drone navigation in classical approaches typically involves constructing a map representation and employing path planning and collision checking algorithms within that map. Recently, novel deep learning techniques combined with depth camera observations have emerged as alternative approaches capable of achieving comparable collision-free performance. While these methods have demonstrated effective collision-free performance in dense environments, they rely on low-noise range or visual data, which may not be feasible in extreme degraded environments characterized by factors such as dust, smoke, weak geometries, or low-texture areas. A possible alternative is to leverage recent progress in mmWave radar imaging, which previously has produced data of insufficient resolution for such purposes. Through the use of a Variational Autoencoder and existing collision prediction algorithms, the goal of this study is to prove the use of mmWave radar for navigating difficult environments. The results of the study exhibit successful navigation in simulated scenarios featuring sparse obstacles. Additionally, results of utilizing real-world mmWave radar data in example scenarios is provided to demonstrate the potential for further application of this technology. / Autonom navigation för drönare i klassiska tillvägagångssätt innebär vanligtvis att man konstruerar en kartrepresentation och använder vägplanerings- och kollisionskontrollalgoritmer inom den kartan. Nyligen har nya djupinlärningstekniker kombinerat med djupkameraobservationer framträtt som alternativa tillvägagångssätt som kan uppnå jämförbar prestanda utan kollisioner. Även om dessa metoder har visat effektiv prestanda utan kollisioner i täta miljöer, är de beroende av störningsfria avstånds- eller visuella data, vilket kanske inte är genomförbart i extrema försämrade miljöer som karakteriseras av faktorer som damm, rök, svaga geometrier eller områden med låg textur. Ett möjligt alternativ är att dra nytta av de senaste framstegen inom mmWave-radaravbildning, vilket tidigare har producerat data med otillräcklig upplösning för sådana ändamål. Genom användning av en varieabel autoencoder och befintliga kollisionsprognosalgoritmer syftar denna studie till att bevisa användningen av mmWave-radar för att navigera i svåra miljöer. Resultaten från studien visar framgångsrik navigering i simulerade scenarier med glesa hinder. Dessutom presenteras resultat från användning av verkliga mmWave-radardata i exempelscenarier för att visa potentialen för ytterligare tillämpningar av denna teknik.

<p>Queueing systems are everywhere: in transportation networks, service centers, communication systems, clinics, manufacturing systems, etc. In this dissertation, we contribute to the theory of queueing in two aspects. In the first part, we dilate the interplay between retrials and strategic arrival behavior in single-class queueing networks. Specifically, we study a variation of the ‘Network Concert Queueing Game,’ wherein a fixed but large number of strategic users arrive at a network of queues where they can be routed to other queues in the network following a fixed routing matrix, or potentially fedback to the end of the queue they arrive at. Working in a non-atomic setting, we prove the existence of Nash equilibrium arrival and routing profiles in three simple, but non-trivial, network topologies/architectures. In two of them, we also prove the uniqueness of the equilibrium. Our results prove that Nash equilibrium decisions on when to arrive and which queue to join in a network are substantially impacted by routing, inducing ‘herding’ behavior under certain conditions on the network architecture. Our theory raises important design implications for capacity-sharing in systems with strategic users, such as ride-sharing and crowdsourcing platforms.</p> <p><br></p> <p>In the second part, we develop a new method of data-driven model calibration or estimation for queueing models. Statistical and theoretical analyses of traffic traces show that the doubly stochastic Poisson processes are appropriate models of high intensity traffic arriving at an array of service systems. On the other hand, the statistical estimation of the underlying latent stochastic intensity process driving the traffic model involves a rather complicated nonlinear filtering problem. In this thesis we use deep neural networks to ‘parameterize’ the path measures induced by the stochastic intensity process, and solve this nonlinear filtering problem by maximizing a tight surrogate objective called the evidence lower bound (ELBO). This framework is flexible in the sense that we can also estimate other stochastic processes (e.g., the queue length process) and their related parameters (e.g., the service time distribution). We demonstrate the effectiveness of our results through extensive simulations. We also provide approximation guarantees for the estimation/calibration problem. Working with the Markov chain induced by the Euler-Maruyama discretization of the latent diffusion, we show that (1) there exists a sequence of approximate data generating distributions that converges to the “ground truth” distribution in total variation distance; (2) the variational gap is strictly positive for the optimal solution to the ELBO. Extending to the non-Markov setting, we identify the variational gap minimizing approximate posterior for an arbitrary (known) posterior and further, prove a lower bound on the optimal ELBO. Recent theoretical results on optimizing the ELBO for related (but ultimately different) models show that when the data generating distribution equals the ground truth distribution and the variational gap is zero, the probability measures that achieve these conditions also maximize the ELBO. Our results show that this may not be true in all problem settings.</p>

Fraud is a common crime within the insurance industry, and insurance companies want to quickly identify fraudulent claimants as they often result in higher premiums for honest customers. Due to the digital transformation where the sheer volume and complexity of available data has grown, manual fraud detection is no longer suitable. This work aims to automate the detection of fraudulent claimants and gain practical insights into fraudulent behavior using unsupervised anomaly detection, which, compared to supervised methods, allows for a more cost-efficient and practical application in the insurance industry. To obtain interpretable results and benefit from the temporal dependencies in human behavior, we propose two variations of LSTM based autoencoders to classify sequences of insurance claims. Autoencoders can provide feature importances that give insight into the models' predictions, which is essential when models are put to practice. This approach relies on the assumption that outliers in the data are fraudulent. The models were trained and evaluated on a dataset we engineered using data from a Swedish insurance company, where the few labeled frauds that existed were solely used for validation and testing. Experimental results show state-of-the-art performance, and further evaluation shows that the combination of autoencoders and LSTMs are efficient but have similar performance to the employed baselines. This thesis provides an entry point for interested practitioners to learn key aspects of anomaly detection within fraud detection by thoroughly discussing the subject at hand and the details of our work. / <p>Gjordes digitalt via Zoom. </p>