Cooperative Adaptive Control for Cloud-Based Robotics

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.Comment: ICRA 201

Optimization in Networks

The recent surge in the network modeling of complex systems has set the stage for a new era in the study of fundamental and applied aspects of optimization in collective behavior. This Focus Issue presents an extended view of the state of the art in this field and includes articles from a large variety of domains where optimization manifests itself, including physical, biological, social, and technological networked systems.Comment: Opening article of the CHAOS Focus Issue "Optimization in Networks", available at http://link.aip.org/link/?CHA/17/2/htmlto

An architecture for organisational decision support

The Decision Support (DS) topic of the Network Enabled Capability for Through Life Systems Engineering (NECTISE) project aims to provide organisational through-life decision support for the products and services that BAE Systems deliver. The topic consists of five streams that cover resource capability management, decision management, collaboration, change prediction and integration. A proposed architecture is presented for an Integrated Decision Support Environment (IDSE) that combines the streams to provide a structured approach to addressing a number of issues that have been identified by BAE Systems business units as being relevant to DS: uncertainty and risk, shared situational awareness, types of decision making, decision tempo, triggering of decisions, and support for autonomous decision making. The proposed architecture will identify how either individuals or groups of decision makers (including autonomous agents) would be utilised on the basis of their capability within the requirements of the scenario to collaboratively solve the decision problem. Features of the scenario such as time criticality, required experience level, the need for justification, and conflict management, will be addressed within the architecture to ensure that the most appropriate decision management support (system/naturalistic/hybrid) is provided. In addition to being reliant on a number of human factors issues, the decision making process is also reliant on a number of information issues: overload, consistency, completeness, uncertainty and evolution, which will be discussed within the context of the architecture

Networked buffering: a basic mechanism for distributed robustness in complex adaptive systems

A generic mechanism - networked buffering - is proposed for the generation of robust traits in complex systems. It requires two basic conditions to be satisfied: 1) agents are versatile enough to perform more than one single functional role within a system and 2) agents are degenerate, i.e. there exists partial overlap in the functional capabilities of agents. Given these prerequisites, degenerate systems can readily produce a distributed systemic response to local perturbations. Reciprocally, excess resources related to a single function can indirectly support multiple unrelated functions within a degenerate system. In models of genome:proteome mappings for which localized decision-making and modularity of genetic functions are assumed, we verify that such distributed compensatory effects cause enhanced robustness of system traits. The conditions needed for networked buffering to occur are neither demanding nor rare, supporting the conjecture that degeneracy may fundamentally underpin distributed robustness within several biotic and abiotic systems. For instance, networked buffering offers new insights into systems engineering and planning activities that occur under high uncertainty. It may also help explain recent developments in understanding the origins of resilience within complex ecosystems. \ud \u