Higher coordination with less control - A result of information maximization in the sensorimotor loop

This work presents a novel learning method in the context of embodied artificial intelligence and self-organization, which has as few assumptions and restrictions as possible about the world and the underlying model. The learning rule is derived from the principle of maximizing the predictive information in the sensorimotor loop. It is evaluated on robot chains of varying length with individually controlled, non-communicating segments. The comparison of the results shows that maximizing the predictive information per wheel leads to a higher coordinated behavior of the physically connected robots compared to a maximization per robot. Another focus of this paper is the analysis of the effect of the robot chain length on the overall behavior of the robots. It will be shown that longer chains with less capable controllers outperform those of shorter length and more complex controllers. The reason is found and discussed in the information-geometric interpretation of the learning process

Service-oriented coordination platform for technology-enhanced learning

It is currently difficult to coordinate learning processes, not only because multiple stakeholders are involved (such as students, teachers, administrative staff, technical staff), but also because these processes are driven by sophisticated rules (such as rules on how to provide learning material, rules on how to assess students’ progress, rules on how to share educational responsibilities). This is one of the reasons for the slow progress in technology-enhanced learning. Consequently, there is a clear demand for technological facilitation of the coordination of learning processes. In this work, we suggest some solution directions that are based on SOA (Service-Oriented Architecture). In particular, we propose a coordination service pattern consistent with SOA and based on requirements that follow from an analysis of both learning processes and potentially useful support technologies. We present the service pattern considering both functional and non-functional issues, and we address policy enforcement as well. Finally, we complement our proposed architecture-level solution directions with an example. The example illustrates our ideas and is also used to identify: (i) a short list of educational IT services; (ii) related non-functional concerns; they will be considered in future work

Upper-Confidence Bound for Channel Selection in LPWA Networks with Retransmissions

In this paper, we propose and evaluate different learning strategies based on Multi-Arm Bandit (MAB) algorithms. They allow Internet of Things (IoT) devices to improve their access to the network and their autonomy, while taking into account the impact of encountered radio collisions. For that end, several heuristics employing Upper-Confident Bound (UCB) algorithms are examined, to explore the contextual information provided by the number of retransmissions. Our results show that approaches based on UCB obtain a significant improvement in terms of successful transmission probabilities. Furthermore, it also reveals that a pure UCB channel access is as efficient as more sophisticated learning strategies.Comment: The source code (MATLAB or Octave) used for the simula-tions and the figures is open-sourced under the MIT License, atBitbucket.org/scee\_ietr/ucb\_smart\_retran

Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In this work, we contribute a recovery policy that allows a robot to recovery from various anomalous scenarios across different tasks and conditions in a consistent and robust fashion. The system organizes tasks as a sequence of nodes composed of internal modules such as motion generation and introspection. When an introspection module flags an anomaly, the recovery strategy is triggered and reverts the task execution by selecting a target node as a function of a state dependency chart. The new skill allows the robot to overcome the effects of the external disturbance and conclude the task. Our system recovers from accidental human and tool collisions in a number of tasks. Of particular importance is the fact that we test the robustness of the recovery system by triggering anomalies at each node in the task graph showing robust recovery everywhere in the task. We also trigger multiple and repeated anomalies at each of the nodes of the task showing that the recovery system can consistently recover anywhere in the presence of strong and pervasive anomalous conditions. Robust recovery systems will be key enablers for long-term autonomy in robot systems. Supplemental info including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl

Agent based mobile negotiation for personalized pricing of last minute theatre tickets

This is the post-print version of the final paper published in Expert Systems with Applications. The published article is available from the link below. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. Copyright @ 2012 Elsevier B.V.This paper proposes an agent based mobile negotiation framework for personalized pricing of last minutes theatre tickets whose values are dependent on the time remaining to the performance and the locations of potential customers. In particular, case based reasoning and fuzzy cognitive map techniques are adopted in the negotiation framework to identify the best initial offer zone and adopt multi criteria decision in the scoring function to evaluate offers. The proposed framework is tested via a computer simulation in which personalized pricing policy shows higher market performance than other policies therefore the validity of the proposed negotiation framework.The Ministry of Education, Science and Technology (Korea