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This paper studies the economically significant problem of the optimization of customs fraud control, which is a critical issue for many countries. The European Union (EU) alone handles 4693 tons of goods every minute (2018 figures). Even though 70% of goods are imported at zero tariff, the EU raised EUR 25.4 billions in 2018, and customs-related income transferred by member states to the EU accounts for nearly 13% of its overall budget. In this field, (a) the conflicting objectives are qualitative and cannot be reduced to a common measure (security and terrorism, health, drug market access control, taxes, etc.); (b) each submitted item has dozens of characteristics; (c) there are constraints; and (d) risk analysis systems have to make decisions in real time. Although the World Customs Organization has promoted the use of artificial intelligence to increase the precision of controls, the problem is very complex due to the data characteristics and interpretability, which is a requirement established by customs officers. In this paper, we propose a new Bayesian-based hybrid approach combining machine learning and multi-objective linear programming (MOLP), called multi-objective Bayesian with dynamic optimization (MOBADO). We demonstrate that it is possible to more than double (with a 237% increase) the precision of current inspection systems, freeing up almost 50% of human resources, and outperform past results with respect to each of the above objectives. MOBADO is an optimization technique that could be combined with any artificial intelligence approach capable of optimizing the quality of multi-objective risk analysis in real time. [ABSTRACT FROM AUTHOR]

This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities (i.e., vision and chemical sensing) to exploit, for the first time, the semantic relationships among the detected gases and the objects visually recognized in the environment. This novel approach allows the robot to focus the search on a finite set of potential gas source candidates (dynamically updated as the robot operates), while accounting for the non-negligible uncertainties in the object recognition and gas classification tasks involved in the process. This approach is particularly interesting for structured indoor environments containing multiple obstacles and objects, enabling the inference of the relations between objects and between objects and gases. A probabilistic Bayesian framework is proposed to handle all these uncertainties and semantic relations, providing an ordered list of candidates to be the source. This candidate list is updated dynamically upon new sensor measurements to account for objects not previously considered in the search process. The exploitation of such probabilities together with information such as the locations of the objects, or the time needed to validate whether a given candidate is truly releasing gases, is delegated to a path planning algorithm based on Markov decision processes to minimize the search time. The system was tested in an office-like scenario, both with simulated and real experiments, to enable the comparison of different path planning strategies and to validate its efficiency under real-world conditions. [ABSTRACT FROM AUTHOR]