This study presents a new perspective for autonomous mobile robots path searching by proposing a biasing direction towards causal entropy maximisation during random tree generation. Maximum entropy-biased rapidly-exploring random tree (ME-RRT) is proposed where the searching direction is computed from random path sampling and path integral approximation, and the direction is incorporated into the existing rapidly-exploring random tree (RRT) planner. Properties of ME-RRT including degenerating conditions and additional time complexity are also discussed. The performance of the proposed approach is studied, and the results are compared with conventional RRT/RRT* and goal-biased approach in 2D/3D scenarios. Simulations show that trees are generated efficiently with fewer iteration numbers, and the success rate within limited iterations has been greatly improved in complex environments.

Owing to the flexible architectures of deep convolutional neural networks (CNNs) are successfully used for image denoising. However, they suffer from the following drawbacks: (i) deep network architecture is very difficult to train. (ii) Deeper networks face the challenge of performance saturation. In this study, the authors propose a novel method called enhanced convolutional neural denoising network (ECNDNet). Specifically, they use residual learning and batch normalisation techniques to address the problem of training difficulties and accelerate the convergence of the network. In addition, dilated convolutions are used in the proposed network to enlarge the context information and reduce the computational cost. Extensive experiments demonstrate that the ECNDNet outperforms the state-of-the-art methods for image denoising.

Many methods aim to use data, especially data about gene expression based on high throughput genomic methods, to identify complicated regulatory relationships between genes. The authors employ a simple but powerful tool, called fuzzy cognitive maps (FCMs), to accurately reconstruct gene regulatory networks (GRNs). Many automated methods have been carried out for training FCMs from data. These methods focus on simulating the observed time sequence data, but neglect the optimisation of network structure. In fact, the FCM learning problem is multi-objective which contains network structure information, thus, the authors propose a new algorithm combining ensemble strategy and multi-objective evolutionary algorithm (MOEA), called EMOEA_FCM-GRN, to reconstruct GRNs based on FCMs. In EMOEA_FCM-GRN, the MOEA first learns a series of networks with different structures by analysing historical data simultaneously, which is helpful in finding the target network with distinct optimal local information. Then, the networks which receive small simulation error on the training set are selected from the Pareto front and an efficient ensemble strategy is provided to combine these selected networks to the final network. The experiments on the DREAM4 challenge and synthetic FCMs illustrate that EMOEA_FCM-GRN is efficient and able to reconstruct GRNs accurately.