Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

Event notification services: analysis and transformation of profile definition languages

The integration of event information from diverse event notification sources is, as with meta-searching over heterogeneous search engines, a challenging task. Due to the complexity of profile definition languages, known solutions for heterogeneous searching cannot be applied for event notification. In this technical report, we propose transformation rules for profile rewriting. We transform each profile defined at a meta-service into a profile expressed in the language of each event notification source. Due to unavoidable asymmetry in the semantics of different languages, some superfluous information may be delivered to the meta-service. These notifications are then post-processed to reduce the number of spurious messages. We present a survey and classification of profile definition languages for event notification, which serves as basis for the transformation rules. The proposed rules are implemented in a prototype transformation module for a Meta-Service for event notification

An Agent-Based Approach to Self-Organized Production

The chapter describes the modeling of a material handling system with the production of individual units in a scheduled order. The units represent the agents in the model and are transported in the system which is abstracted as a directed graph. Since the hindrances of units on their path to the destination can lead to inefficiencies in the production, the blockages of units are to be reduced. Therefore, the units operate in the system by means of local interactions in the conveying elements and indirect interactions based on a measure of possible hindrances. If most of the units behave cooperatively ("socially"), the blockings in the system are reduced. A simulation based on the model shows the collective behavior of the units in the system. The transport processes in the simulation can be compared with the processes in a real plant, which gives conclusions about the consequencies for the production based on the superordinate planning.Comment: For related work see http://www.soms.ethz.c

Analysis of a Multimedia Stream using Stochastic Process Algebra

It is now well recognised that the next generation of distributed systems will be distributed multimedia systems. Central to multimedia systems is quality of service, which defines the non-functional requirements on the system. In this paper we investigate how stochastic process algebra can be used in order to determine the quality of service properties of distributed multimedia systems. We use a simple multimedia stream as our basic example. We describe it in the Stochastic Process Algebra PEPA and then we analyse whether the stream satisfies a set of quality of service parameters: throughput, end-to-end latency, jitter and error rates

Technology Solutions for Developmental Math: An Overview of Current and Emerging Practices

Reviews current practices in and strategies for incorporating innovative technology into the teaching of remedial math at the college level. Outlines challenges, emerging trends, and ways to combine technology with new concepts of instructional strategy

Cooperative Online Learning: Keeping your Neighbors Updated

We study an asynchronous online learning setting with a network of agents. At each time step, some of the agents are activated, requested to make a prediction, and pay the corresponding loss. The loss function is then revealed to these agents and also to their neighbors in the network. Our results characterize how much knowing the network structure affects the regret as a function of the model of agent activations. When activations are stochastic, the optimal regret (up to constant factors) is shown to be of order $\sqrt{\alpha T}$, where $T$ is the horizon and $\alpha$ is the independence number of the network. We prove that the upper bound is achieved even when agents have no information about the network structure. When activations are adversarial the situation changes dramatically: if agents ignore the network structure, a $\Omega(T)$ lower bound on the regret can be proven, showing that learning is impossible. However, when agents can choose to ignore some of their neighbors based on the knowledge of the network structure, we prove a $O(\sqrt{\overline{\chi} T})$ sublinear regret bound, where $\overline{\chi} \ge \alpha$ is the clique-covering number of the network