36,420 research outputs found

    Teams organization and performance analysis in autonomous human-robot teams

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    This paper proposes a theory of human control of robot teams based on considering how people coordinate across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue (USAR) task. We identify three subtasks: perceptual search-visual search for victims, assistance-teleoperation to assist robot, and navigation-path planning and coordination. For the studies reported here, navigation was selected for automation because it involves weak dependencies among robots making it more complex and because it was shown in an earlier experiment to be the most difficult. This paper reports an extended analysis of the two conditions from a larger four condition study. In these two "shared pool" conditions Twenty four simulated robots were controlled by teams of 2 participants. Sixty paid participants (30 teams) were recruited to perform the shared pool tasks in which participants shared control of the 24 UGVs and viewed the same screens. Groups in the manual control condition issued waypoints to navigate their robots. In the autonomy condition robots generated their own waypoints using distributed path planning. We identify three self-organizing team strategies in the shared pool condition: joint control operators share full authority over robots, mixed control in which one operator takes primary control while the other acts as an assistant, and split control in which operators divide the robots with each controlling a sub-team. Automating path planning improved system performance. Effects of team organization favored operator teams who shared authority for the pool of robots. © 2010 ACM

    Gender differences in demand for index-based livestock insurance

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    Recent Advances in Multi Robot Systems

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    To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

    Quantifying fisher responses to environmental and regulatory dynamics in marine systems

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    Thesis (Ph.D.) University of Alaska Fairbanks, 2017Commercial fisheries are part of an inherently complicated cycle. As fishers have adopted new technologies and larger vessels to compete for resources, fisheries managers have adapted regulatory structures to sustain stocks and to mitigate unintended impacts of fishing (e.g., bycatch). Meanwhile, the ecosystems that are targeted by fishers are affected by a changing climate, which in turn forces fishers to further adapt, and subsequently, will require regulations to be updated. From the management side, one of the great limitations for understanding how changes in fishery environments or regulations impact fishers has been a lack of sufficient data for resolving their behaviors. In some fisheries, observer programs have provided sufficient data for monitoring the dynamics of fishing fleets, but these programs are expensive and often do not cover every trip or vessel. In the last two decades however, vessel monitoring systems (VMS) have begun to provide vessel location data at regular intervals such that fishing effort and behavioral decisions can be resolved across time and space for many fisheries. I demonstrate the utility of such data by examining the responses of two disparate fishing fleets to environmental and regulatory changes. This study was one of "big data" and required the development of nuanced approaches to process and model millions of records from multiple datasets. I thus present the work in three components: (1) How can we extract the information that we need? I present a detailed characterization of the types of data and an algorithm used to derive relevant behavioral aspects of fishing, like the duration and distances traveled during fishing trips; (2) How do fishers' spatial behaviors in the Bering Sea pollock fishery change in response to environmental variability; and (3) How were fisher behaviors and economic performances affected by a series of regulatory changes in the Gulf of Mexico grouper-tilefish longline fishery? I found a high degree of heterogeneity among vessel behaviors within the pollock fishery, underscoring the role that markets and processor-level decisions play in facilitating fisher responses to environmental change. In the Gulf of Mexico, my VMS-based approach estimated unobserved fishing effort with a high degree of accuracy and confirmed that the regulatory shift (e.g., the longline endorsement program and catch share program) yielded the intended impacts of reducing effort and improving both the economic performance and the overall harvest efficiency for the fleet. Overall, this work provides broadly applicable approaches for testing hypotheses regarding the dynamics of spatial behaviors in response to regulatory and environmental changes in a diversity of fisheries around the world.General introduction -- Chapter 1 Using vessel monitoring system data to identify and characterize trips made by fishing vessels in the United States North Pacific -- Chapter 2 Paths to resilience: Alaska pollock fleet uses multiple fishing strategies to buffer against environmental change in the Bering Sea -- Chapter 3 Vessel monitoring systems (VMS) reveal increased fishing efficiency following regulatory change in a bottom longline fishery -- General Conclusions

    Spatial interactions in agent-based modeling

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    Agent Based Modeling (ABM) has become a widespread approach to model complex interactions. In this chapter after briefly summarizing some features of ABM the different approaches in modeling spatial interactions are discussed. It is stressed that agents can interact either indirectly through a shared environment and/or directly with each other. In such an approach, higher-order variables such as commodity prices, population dynamics or even institutions, are not exogenously specified but instead are seen as the results of interactions. It is highlighted in the chapter that the understanding of patterns emerging from such spatial interaction between agents is a key problem as much as their description through analytical or simulation means. The chapter reviews different approaches for modeling agents' behavior, taking into account either explicit spatial (lattice based) structures or networks. Some emphasis is placed on recent ABM as applied to the description of the dynamics of the geographical distribution of economic activities, - out of equilibrium. The Eurace@Unibi Model, an agent-based macroeconomic model with spatial structure, is used to illustrate the potential of such an approach for spatial policy analysis.Comment: 26 pages, 5 figures, 105 references; a chapter prepared for the book "Complexity and Geographical Economics - Topics and Tools", P. Commendatore, S.S. Kayam and I. Kubin, Eds. (Springer, in press, 2014
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