Balanced task allocation by partitioning the multiple traveling salesperson problem

Task assignment and routing are tightly coupled problems for teams of mobile agents. To fairly balance the workload, each agent should be assigned a set of tasks which take a similar amount of time to complete. The completion time depends on the time needed to travel between tasks which depends on the order of tasks. We formulate the task assignment problem as the minimum Hamiltonian partition problem (MHPP) form agents, which is equivalent to the minmax multiple traveling salesperson problem (m-TSP). While the MHPP’s cost function depends on the order of tasks, its solutions are similar to solutions of the average Hamiltonian partition problem (AHPP) whose cost function is order-invariant. We prove that the AHPP is NP-hard and present an effective heuristic, AHP, for solving it. AHP improves a partitions of a graph using a series of transfer and swap operations which are guaranteed to improve the solution’s quality. The solution generated by AHP is used as an initial partition for an algorithm, AHP-mTSP, which solves the combined task assignment and routing problems to near optimality. For n tasks and m agents, each iteration of AHP is O(n2) and AHP-mTSP has an average run-time that scales with n2.11m0.33. Compared to state-of-the-art approaches, our approach found approximately 10% better solutions for large problems in a similar run-time

Desenvolvimento de uma abordagem de cooperação em sistemas multiagentes

TCC(graduação) - Universidade Federal de Santa Catarina. Centro Tecnológico. Ciências da Computação.Neste trabalho foi realizado um estudo sobre sistemas multiagentes, e particularmente, as abordagens para cooperação entre agentes. A partir desse estudo foi criado um cenário com o seguinte problema: como carros podem cooperar entre si em um cruzamento de modo que não haja necessidade de semáforos. Para solucionar este problema foi desenvolvida uma abordagem baseada em planos compartilhados. Para verificar a eficiência deste plano, foi implementado esta abordagem utilizando o framework JaCaMO. E como comparativo, foi implementado um agente sem capacidade de cooperação, necessitando do uso de semáforos em cruzamentos. Ambos os agentes foram testados no cenário desenvolvido. Os testes mostraram que a abordagem baseada em planos compartilhados leva menos tempo para os agentes se locomoverem até seu destino final.In this paper a study was carried out on multi-agent systems, and in particular, some approaches on how agents can cooperate. Using this study, It was possible to create a scenario with the following problem: How can autonomous cars cooperate between themselves in someway that it not necessary to use a semaphore at an intersection. It was adopted an approach of shared plans to solve this problem. And it was implement using the framework JaCaMo so it was possible to analyse this approach efficiency. The cooperative agent was compared with an agent that didn't know to to cooperate and rely on semaphore at intersection. The tests showed that the approach with shared plans takes less time on average to move to their final destination

Field coverage and weed mapping by UAV swarms

The demands from precision agriculture (PA) for high-quality information at the individual plant level require to re-think the approaches exploited to date for remote sensing as performed by unmanned aerial vehicles (UAVs). A swarm of collaborating UAVs may prove more efficient and economically viable compared to other solutions. To identify the merits and limitations of a swarm intelligence approach to remote sensing, we propose here a decentralised multi-agent system for a field coverage and weed mapping problem, which is efficient, intrinsically robust and scalable to different group sizes. The proposed solution is based on a reinforced random walk with inhibition of return, where the information available from other agents (UAVs) is exploited to bias the individual motion pattern. Experiments are performed to demonstrate the efficiency and scalability of the proposed approach under a variety of experimental conditions, accounting also for limited communication range and different routing protocols. © 2017 IEEE

Learning to Form Coalitions in Heterogeneous Teams from Suboptimal Demonstrations

Multi-agent systems (MAS) have proven to be effective in a wide range of domains including warehouse automation, defense, agriculture, and environmental modeling. Heterogeneous MAS, often made up of a different types of agents with complementary capabilities, can particularly be effective in handling complex scenarios that require a variety of skills. However, coordinating such teams presents significant challenges that require either experts with near-perfect domain knowledge or learning approaches that require vast amounts of computation resources. This thesis explores the possibility of learning to coordinate heterogeneous MAS from humans who might not be experts and will not act optimally as a result. Specifically, we develop a framework that can learn to form effective coalitions (an instance of the task allocation problem) that can solve multiple concurrent tasks from suboptimal demonstrations. To this end, we first learn to predict the reward associated with a given allocation using supervised learning, and subsequently optimize over the space of allocations to identify one that will maximize the predicted reward. As such, we effectively utilize non-expert data to bootstrap learning, instead of attempting to learn from scratch. Consequently, our framework neither requires considerable domain knowledge nor incurs an unsustainable amount of computational burden. In order to implement and evaluate our framework, we also contribute a user study interface capable of collecting demonstrations from remote users as they play a virtual multi-agent game designed using the StarCraft II simulator. Our experimental results demonstrate that we can learn the reward functions associated with the tasks with an accuracy of over 70% while having access to just the suboptimal demonstrations. Reward functions learned from such data can then be used to predict an ideal assignment to get better performance than what has been seen in the training data.Undergraduat

Efficient Simultaneous Task and Motion Planning for Multiple Mobile Robots Using Task Reachability Graphs

In this thesis, we consider the problem of efficient navigation by robots in initially unknown environments while performing tasks at certain locations. In initially unknown environments, the path plans might change dynamically as the robot discovers obstacles along its route. Because robots have limited energy, adaptations to the task schedule of the robot in conjunction with updates to its path plan are required so that the robot can perform its tasks while reducing time and energy expended. However, most existing techniques consider robot path planning and task planning as separate problems. This thesis plans to bridge this gap by developing a unified approach for navigating multiple robots in uncertain environments. We first formalize this as a problem called task ordering with path uncertainty (TOP-U) where robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is initially known only coarsely by the robots. The robots must find the order of tasks that reduces the path length to visit the task locations. We then propose an abstraction called a task reachability graph (TRG) that integrates the robots task ordering and path planning. The TRG is updated dynamically based on inter-task path costs calculated by the path planner. A Hidden Markov Model-based technique calculates the belief in the current path costs based on the environment perceived by the robot’s sensors. We then describe a Markov Decision Process-based algorithm used by each robot in a distributed manner to reason about the path lengths between tasks and select the paths that reduce the overall path length to visit the task locations. We have evaluated our algorithm in simulated and hardware robots. Our results show that the TRG-based approach performs up to 60% better in planning and locomotion times with 44% fewer replans, while traveling almost-similar distances as compared to a greedy, nearest task-first selection algorithm

Coverage & cooperation: Completing complex tasks as quickly as possible using teams of robots

As the robotics industry grows and robots enter our homes and public spaces, they are increasingly expected to work in cooperation with each other. My thesis focuses on multirobot planning, specifically in the context of coverage robots, such as robotic lawnmowers and vacuum cleaners. Two problems unique to multirobot teams are task allocation and search. I present a task allocation algorithm which balances the workload amongst all robots in the team with the objective of minimizing the overall mission time. I also present a search algorithm which robots can use to find lost teammates. It uses a probabilistic belief of a target robot’s position to create a planning tree and then searches by following the best path in the tree. For robust multirobot coverage, I use both the task allocation and search algorithms. First the coverage region is divided into a set of small coverage tasks which minimize the number of turns the robots will need to take. These tasks are then allocated to individual robots. During the mission, robots replan with nearby robots to rebalance the workload and, once a robot has finished its tasks, it searches for teammates to help them finish their tasks faster

Challenges in Cybersecurity and Privacy - the European Research Landscape

Cybersecurity and Privacy issues are becoming an important barrier for a trusted and dependable global digital society development. Cyber-criminals are continuously shifting their cyber-attacks specially against cyber-physical systems and IoT, since they present additional vulnerabilities due to their constrained capabilities, their unattended nature and the usage of potential untrustworthiness components. Likewise, identity-theft, fraud, personal data leakages, and other related cyber-crimes are continuously evolving, causing important damages and privacy problems for European citizens in both virtual and physical scenarios. In this context, new holistic approaches, methodologies, techniques and tools are needed to cope with those issues, and mitigate cyberattacks, by employing novel cyber-situational awareness frameworks, risk analysis and modeling, threat intelligent systems, cyber-threat information sharing methods, advanced big-data analysis techniques as well as exploiting the benefits from latest technologies such as SDN/NFV and Cloud systems. In addition, novel privacy-preserving techniques, and crypto-privacy mechanisms, identity and eID management systems, trust services, and recommendations are needed to protect citizens’ privacy while keeping usability levels. The European Commission is addressing the challenge through different means, including the Horizon 2020 Research and Innovation program, thereby financing innovative projects that can cope with the increasing cyberthreat landscape. This book introduces several cybersecurity and privacy research challenges and how they are being addressed in the scope of 15 European research projects. Each chapter is dedicated to a different funded European Research project, which aims to cope with digital security and privacy aspects, risks, threats and cybersecurity issues from a different perspective. Each chapter includes the project’s overviews and objectives, the particular challenges they are covering, research achievements on security and privacy, as well as the techniques, outcomes, and evaluations accomplished in the scope of the EU project. The book is the result of a collaborative effort among relative ongoing European Research projects in the field of privacy and security as well as related cybersecurity fields, and it is intended to explain how these projects meet the main cybersecurity and privacy challenges faced in Europe. Namely, the EU projects analyzed in the book are: ANASTACIA, SAINT, YAKSHA, FORTIKA, CYBECO, SISSDEN, CIPSEC, CS-AWARE. RED-Alert, Truessec.eu. ARIES, LIGHTest, CREDENTIAL, FutureTrust, LEPS. Challenges in Cybersecurity and Privacy - the European Research Landscape is ideal for personnel in computer/communication industries as well as academic staff and master/research students in computer science and communications networks interested in learning about cyber-security and privacy aspects

Designing for quality in real-world mobile crowdsourcing systems

PhD ThesisCrowdsourcing has emerged as a popular means to collect and analyse data on a scale for problems that require human intelligence to resolve. Its prompt response and low cost have made it attractive to businesses and academic institutions. In response, various online crowdsourcing platforms, such as Amazon MTurk, Figure Eight and Prolific have successfully emerged to facilitate the entire crowdsourcing process. However, the quality of results has been a major concern in crowdsourcing literature. Previous work has identified various key factors that contribute to issues of quality and need to be addressed in order to produce high quality results. Crowd tasks design, in particular, is a major key factor that impacts the efficiency and effectiveness of crowd workers as well as the entire crowdsourcing process. This research investigates crowdsourcing task designs to collect and analyse two distinct types of data, and examines the value of creating high-quality crowdwork activities on new crowdsource enabled systems for end-users. The main contribution of this research includes 1) a set of guidelines for designing crowdsourcing tasks that support quality collection, analysis and translation of speech and eye tracking data in real-world scenarios; and 2) Crowdsourcing applications that capture real-world data and coordinate the entire crowdsourcing process to analyse and feed quality results back. Furthermore, this research proposes a new quality control method based on workers trust and self-verification. To achieve this, the research follows the case study approach with a focus on two real-world data collection and analysis case studies. The first case study, Speeching, explores real-world speech data collection, analysis, and feedback for people with speech disorder, particularly with Parkinson’s. The second case study, CrowdEyes, examines the development and use of a hybrid system combined of crowdsourcing and low-cost DIY mobile eye trackers for real-world visual data collection, analysis, and feedback. Both case studies have established the capability of crowdsourcing to obtain high quality responses comparable to that of an expert. The Speeching app, and the provision of feedback in particular were well perceived by the participants. This opens up new opportunities in digital health and wellbeing. Besides, the proposed crowd-powered eye tracker is fully functional under real-world settings. The results showed how this approach outperforms all current state-of-the-art algorithms under all conditions, which opens up the technology for wide variety of eye tracking applications in real-world settings

Challenges in Cybersecurity and Privacy - the European Research Landscape

Cybersecurity and Privacy issues are becoming an important barrier for a trusted and dependable global digital society development. Cyber-criminals are continuously shifting their cyber-attacks specially against cyber-physical systems and IoT, since they present additional vulnerabilities due to their constrained capabilities, their unattended nature and the usage of potential untrustworthiness components. Likewise, identity-theft, fraud, personal data leakages, and other related cyber-crimes are continuously evolving, causing important damages and privacy problems for European citizens in both virtual and physical scenarios. In this context, new holistic approaches, methodologies, techniques and tools are needed to cope with those issues, and mitigate cyberattacks, by employing novel cyber-situational awareness frameworks, risk analysis and modeling, threat intelligent systems, cyber-threat information sharing methods, advanced big-data analysis techniques as well as exploiting the benefits from latest technologies such as SDN/NFV and Cloud systems. In addition, novel privacy-preserving techniques, and crypto-privacy mechanisms, identity and eID management systems, trust services, and recommendations are needed to protect citizens’ privacy while keeping usability levels. The European Commission is addressing the challenge through different means, including the Horizon 2020 Research and Innovation program, thereby financing innovative projects that can cope with the increasing cyberthreat landscape. This book introduces several cybersecurity and privacy research challenges and how they are being addressed in the scope of 15 European research projects. Each chapter is dedicated to a different funded European Research project, which aims to cope with digital security and privacy aspects, risks, threats and cybersecurity issues from a different perspective. Each chapter includes the project’s overviews and objectives, the particular challenges they are covering, research achievements on security and privacy, as well as the techniques, outcomes, and evaluations accomplished in the scope of the EU project. The book is the result of a collaborative effort among relative ongoing European Research projects in the field of privacy and security as well as related cybersecurity fields, and it is intended to explain how these projects meet the main cybersecurity and privacy challenges faced in Europe. Namely, the EU projects analyzed in the book are: ANASTACIA, SAINT, YAKSHA, FORTIKA, CYBECO, SISSDEN, CIPSEC, CS-AWARE. RED-Alert, Truessec.eu. ARIES, LIGHTest, CREDENTIAL, FutureTrust, LEPS. Challenges in Cybersecurity and Privacy - the European Research Landscape is ideal for personnel in computer/communication industries as well as academic staff and master/research students in computer science and communications networks interested in learning about cyber-security and privacy aspects