Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms with Robust Performance Constraints

In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and failure rates are stochastic but related, inasmuch as failure rates increase with speed. To maximize chances of success while meeting the deadline, a control strategy has therefore to balance safety and performance. Our approach is to cast the problem within the theory of constrained Markov Decision Processes, whereby we seek to compute policies that maximize the probability of successful deployment while ensuring that the expected duration of the task is bounded by a given deadline. To account for uncertainties in the problem parameters, we consider a robust formulation and we propose efficient solution algorithms, which are of independent interest. Numerical experiments confirming our theoretical results are presented and discussed

Tectonic: a networked, generative and interactive, conducting environment for iPad

This paper describes the concept, implementation and context of Tectonic: Rodinia for four realtime composer-conductoors and ensemble. In this work, an addition to the reqertoire of the Decibel Scoreplayer, iPads art networked together using the bonjour protocol to manage connectivity over the network. Unlike previous Scoreplayer works, Rodinia combines conductor view control interfaces, performer view notation interfaces and an audience view overview interface, separately identified by manual connection and yet mutually interactive. Notation is communicated to an ensemble via scores independently generated in realtime in each performer view and amalgamated schematically in the :audience view interface. Interaction in the work is enacted through a collision avoidant algorithm that modifies the choices of each conductor by deflecting the streams of notation according to evaluation of the Mass and proximity to other streams, reflecting the concept of shifting Tectonic plates that crush and reform each other\u27s placement

Computing multi-scale organizations built through assembly

The ability to generate and control assembling structures built over many orders of magnitude is an unsolved challenge of engineering and science. Many of the presumed transformational benefits of nanotechnology and robotics are based directly on this capability. There are still significant theoretical difficulties associated with building such systems, though technology is rapidly ensuring that the tools needed are becoming available in chemical, electronic, and robotic domains. In this thesis a simulated, general-purpose computational prototype is developed which is capable of unlimited assembly and controlled by external input, as well as an additional prototype which, in structures, can emulate any other computing device. These devices are entirely finite-state and distributed in operation. Because of these properties and the unique ability to form unlimited size structures of unlimited computational power, the prototypes represent a novel and useful blueprint on which to base scalable assembly in other domains. A new assembling model of Computational Organization and Regulation over Assembly Levels (CORAL) is also introduced, providing the necessary framework for this investigation. The strict constraints of the CORAL model allow only an assembling unit of a single type, distributed control, and ensure that units cannot be reprogrammed - all reprogramming is done via assembly. Multiple units are instead structured into aggregate computational devices using a procedural or developmental approach. Well-defined comparison of computational power between levels of organization is ensured by the structure of the model. By eliminating ambiguity, the CORAL model provides a pragmatic answer to open questions regarding a framework for hierarchical organization. Finally, a comparison between the designed prototypes and units evolved using evolutionary algorithms is presented as a platform for further research into novel scalable assembly. Evolved units are capable of recursive pairing ability under the control of a signal, a primitive form of unlimited assembly, and do so via symmetry-breaking operations at each step. Heuristic evidence for a required minimal threshold of complexity is provided by the results, and challenges and limitations of the approach are identified for future evolutionary studies

Building Machines That Learn and Think Like People

Recent progress in artificial intelligence (AI) has renewed interest in building systems that learn and think like people. Many advances have come from using deep neural networks trained end-to-end in tasks such as object recognition, video games, and board games, achieving performance that equals or even beats humans in some respects. Despite their biological inspiration and performance achievements, these systems differ from human intelligence in crucial ways. We review progress in cognitive science suggesting that truly human-like learning and thinking machines will have to reach beyond current engineering trends in both what they learn, and how they learn it. Specifically, we argue that these machines should (a) build causal models of the world that support explanation and understanding, rather than merely solving pattern recognition problems; (b) ground learning in intuitive theories of physics and psychology, to support and enrich the knowledge that is learned; and (c) harness compositionality and learning-to-learn to rapidly acquire and generalize knowledge to new tasks and situations. We suggest concrete challenges and promising routes towards these goals that can combine the strengths of recent neural network advances with more structured cognitive models.Comment: In press at Behavioral and Brain Sciences. Open call for commentary proposals (until Nov. 22, 2016). https://www.cambridge.org/core/journals/behavioral-and-brain-sciences/information/calls-for-commentary/open-calls-for-commentar

Emergent Rhythmic Structures as Cultural Phenomena Driven by Social Pressure in a Society of Artificial Agents

This thesis studies rhythm from an evolutionary computation perspective. Rhythm is the most fundamental dimension of music and can be used as a ground to describe the evolution of music. More specifically, the main goal of the thesis is to investigate how complex rhythmic structures evolve, subject to the cultural transmission between individuals in a society. The study is developed by means of computer modelling and simulations informed by evolutionary computation and artificial life (A-Life). In this process, self-organisation plays a fundamental role. The evolutionary process is steered by the evaluation of rhythmic complexity and by the exposure to rhythmic material. In this thesis, composers and musicologists will find the description of a system named A-Rhythm, which explores the emerged behaviours in a community of artificial autonomous agents that interact in a virtual environment. The interaction between the agents takes the form of imitation games. A set of necessary criteria was established for the construction of a compositional system in which cultural transmission is observed. These criteria allowed the comparison with related work in the field of evolutionary computation and music. In the development of the system, rhythmic representation is discussed. The proposed representation enabled the development of complexity and similarity based measures, and the recombination of rhythms in a creative manner. A-Rhythm produced results in the form of simulation data which were evaluated in terms of the coherence of repertoires of the agents. The data shows how rhythmic sequences are changed and sustained in the population, displaying synchronic and diachronic diversity. Finally, this tool was used as a generative mechanism for composition and several examples are presented.Leverhulme Trus

Statistical analysis of CARMA models: an advanced tutorial

CARMA (Collective Adaptive Resource-sharing Markovian Agents) is a process-algebra-based quantitative language developed for the modeling of collective adaptive systems. A CARMA model consists of an environment in which a collective of components with attribute stores interact via unicast and broadcast communication, providing a rich modeling formalism. The semantics of a CARMA model are given by a continuous-time Markov chain which can be simulated using the CARMA Eclipse Plug-in. Furthermore, statistical model checking can be applied to the trajectories generated through simulation using the MultiVeStA tool. This advanced tutorial will introduce some of the theory behind CARMA and MultiVeStA as well as demonstrate its application to collective adaptive system modeling