We propose a decentralized variant of Monte Carlo tree search (MCTS) that is suitable for a variety of tasks in multi-robot active perception. Our algorithm allows each robot to optimize its own actions by maintaining a probability distribution over plans in the joint-action space. Robots periodically communicate a compressed form of their search trees, which are used to update the joint distribution using a distributed optimization approach inspired by variational methods. Our method admits any objective function defined over robot action sequences, assumes intermittent communication, is anytime, and is suitable for online replanning. Our algorithm features a new MCTS tree expansion policy that is designed for our planning scenario. We extend the theoretical analysis of standard MCTS to provide guarantees for convergence rates to the optimal payoff sequence. We evaluate the performance of our method for generalized team orienteering and online active object recognition using real data, and show that it compares favorably to centralized MCTS even with severely degraded communication. These examples demonstrate the suitability of our algorithm for real-world active perception with multiple robots.

We describe an efficient algorithm for protein backbone structure determination from solution Nuclear Magnetic Resonance (NMR) data. A key feature of our algorithm is that it finds the conformation and orientation of secondary structure elements as well as the global fold in polynomial time. This is the first polynomial-time algorithm for de novo high-resolution biomacromolecular structure determination using experimentally recorded data from either NMR spectroscopy or X-ray crystallography. Previous algorithmic formulations of this problem focused on using local distance restraints from NMR (e.g., nuclear Overhauser effect [NOE] restraints) to determine protein structure. This approach has been shown to be NP-hard, essentially due to the local nature of the constraints. In practice, approaches such as molecular dynamics and simulated annealing, which lack both combinatorial precision and guarantees on running time and solution quality, are used routinely for structure determination. We show that residual dipolar coupling (RDC) data, which gives global restraints on the orientation of internuclear bond vectors, can be used in conjunction with very sparse NOE data to obtain a polynomial-time algorithm for structure determination. Furthermore, an implementation of our algorithm has been applied to six different real biological NMR data sets recorded for three proteins. Our algorithm is combinatorially precise, polynomialtime, and uses much less NMR data to produce results that are as good or better than previous approaches in terms of accuracy of the computed structure as well as running time.

No abstract

14] R. Motwani and P. Raghavan. Randomized Algorithms. Cambridge University Press, Cambridge, UK, 1995.[IS] M. Thorup. Quick k-median, k-center, and facility location for sparse graphs. In

T-cell CD4+ epitopes are important targets of immunity against infectious diseases and cancer. State-of-the-art methods for MHC class II epitope prediction rely on supervised learning methods in which an implicit or explicit model of sequence specificity is constructed using a training set of peptides with experimentally tested MHC class II binding affinity. In this paper we present a novel method for CD4+ T-cell eptitope prediction based on modeling antigen-processing constraints. Previous work indicates that dominant CD4+ T-cell epitopes tend to occur adjacent to sites of initial proteolytic cleavage. Given an antigen with known three-dimensional structure, our algorithm first aggregates four types of conformational stability data in order to construct a profile of stability that allows us to identify regions of the protein that are most accessible to proteolysis. Using this profile, we then construct a profile of epitope likelihood based on the pattern of transitions from unstable to stable regions. We validate our method using 35 datasets of experimentally measured CD4+ T cell responses of mice bearing I-Ab or HLA-DR4 alleles as well as of human subjects. Overall, our results show that antigen processing constraints provide a significant source of predictive power. For epitope prediction in single-allele systems, our approach can be combined with sequence-based methods, or used in instances where little or no training data is available. In multiple-allele systems, sequence-based methods can only be used if the allele distribution of a population is known. In contrast, our approach does not make use of MHC binding prediction, and is thus agnostic to MHC class II genotypes.