An extended version of average Markov decision processes on discrete spaces under fuzzy environment

summary:The article presents an extension of the theory of standard Markov decision processes on discrete spaces and with the average cost as the objective function which permits to take into account a fuzzy average cost of a trapezoidal type. In this context, the fuzzy optimal control problem is considered with respect to two cases: the max-order of the fuzzy numbers and the average ranking order of the trapezoidal fuzzy numbers. Each of these cases extends the standard optimal control problem, and for each of them the optimal solution is related to a suitable standard optimal control problem, and it is obtained that (i) the optimal policy coincides with the optimal policy of this suitable standard control problem, and (ii) the fuzzy optimal value function is of a trapezoidal shape. Two models: a queueing system and a machine replacement problem are provided in order to examplify the theory given

Fuzzy Linear Programming with Interval Type-2 fuzzy constraints

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A Hierarchical Architecture for Flexible Human-Robot Collaboration

This thesis is devoted to design a software architecture for Human- Robot Collaboration (HRC), to enhance the robots\u2019 abilities for working alongside humans. We propose FlexHRC, a hierarchical and flexible human-robot cooperation architecture specifically designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in tasks with high-variability. Along with FlexHRC, we have introduced novel techniques appropriate for three interleaved levels, namely perception, representation, and action, each one aimed at addressing specific traits of humanrobot cooperation tasks. The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots could bring to the whole production process. In this context, a yet unreached enabling technology is the design of robots able to deal at all levels with humans\u2019 intrinsic variability, which is not only a necessary element to a comfortable working experience for humans but also a precious capability for efficiently dealing with unexpected events. Moreover, a flexible assembly of semi-finished products is one of the expected features of next-generation shop-floor lines. Currently, such flexibility is placed on the shoulders of human operators, who are responsible for product variability, and therefore they are subject to potentially high stress levels and cognitive load when dealing with complex operations. At the same time, operations in the shop-floor are still very structured and well-defined. Collaborative robots have been designed to allow for a transition of such burden from human operators to robots that are flexible enough to support them in high-variability tasks while they unfold. As mentioned before, FlexHRC architecture encompasses three perception, action, and representation levels. The perception level relies on wearable sensors for human action recognition and point cloud data for perceiving the object in the scene. The action level embraces four components, the robot execution manager for decoupling action planning from robot motion planning and mapping the symbolic actions to the robot controller command interface, a task Priority framework to control the robot, a differential equation solver to simulate and evaluate the robot behaviour on-the-fly, and finally a random-based method for the robot path planning. The representation level depends on AND/OR graphs for the representation of and the reasoning upon human-robot cooperation models online, a task manager to plan, adapt, and make decision for the robot behaviors, and a knowledge base in order to store the cooperation and workspace information. We evaluated the FlexHRC functionalities according to the application desired objectives. This evaluation is accompanied with several experiments, namely collaborative screwing task, coordinated transportation of the objects in cluttered environment, collaborative table assembly task, and object positioning tasks. The main contributions of this work are: (i) design and implementation of FlexHRC which enables the functional requirements necessary for the shop-floor assembly application such as task and team level flexibility, scalability, adaptability, and safety just a few to name, (ii) development of the task representation, which integrates a hierarchical AND/OR graph whose online behaviour is formally specified using First Order Logic, (iii) an in-the-loop simulation-based decision making process for the operations of collaborative robots coping with the variability of human operator actions, (iv) the robot adaptation to the human on-the-fly decisions and actions via human action recognition, and (v) the predictable robot behavior to the human user thanks to the task priority based control frame, the introduced path planner, and the natural and intuitive communication of the robot with the human

Artificial general intelligence: Proceedings of the Second Conference on Artificial General Intelligence, AGI 2009, Arlington, Virginia, USA, March 6-9, 2009

Artificial General Intelligence (AGI) research focuses on the original and ultimate goal of AI – to create broad human-like and transhuman intelligence, by exploring all available paths, including theoretical and experimental computer science, cognitive science, neuroscience, and innovative interdisciplinary methodologies. Due to the difficulty of this task, for the last few decades the majority of AI researchers have focused on what has been called narrow AI – the production of AI systems displaying intelligence regarding specific, highly constrained tasks. In recent years, however, more and more researchers have recognized the necessity – and feasibility – of returning to the original goals of the field. Increasingly, there is a call for a transition back to confronting the more difficult issues of human level intelligence and more broadly artificial general intelligence

Multi-Agent Systems

A multi-agent system (MAS) is a system composed of multiple interacting intelligent agents. Multi-agent systems can be used to solve problems which are difficult or impossible for an individual agent or monolithic system to solve. Agent systems are open and extensible systems that allow for the deployment of autonomous and proactive software components. Multi-agent systems have been brought up and used in several application domains

Sustainable Construction Engineering and Management

This Book is a Printed Edition of the Special Issue which covers sustainability as an emerging requirement in the fields of construction management, project management and engineering. We invited authors to submit their theoretical or experimental research articles that address the challenges and opportunities for sustainable construction in all its facets, including technical topics and specific operational or procedural solutions, as well as strategic approaches aimed at the project, company or industry level. Central to developments are smart technologies and sophisticated decision-making mechanisms that augment sustainable outcomes. The Special Issue was received with great interest by the research community and attracted a high number of submissions. The selection process sought to balance the inclusion of a broad representative spread of topics against research quality, with editors and reviewers settling on thirty-three articles for publication. The Editors invite all participating researchers and those interested in sustainable construction engineering and management to read the summary of the Special Issue and of course to access the full-text articles provided in the Book for deeper analyses

Fuzzy Optimality Relation for Perceptive MDPs — The average case

This paper is a sequel to Kurano et al [9], [10], in which the fuzzy perceptive models for optimal stopping or discounted Markov decision process is given. We proposed a method of computing the corresponding fuzzy perceptive values. Here, we deal with the average case for Markov decision processes with fuzzy perceptive transition matrices and characterize the optimal average expected reward, called the average perceptive value, by a fuzzy optimality relation. Also, we give a numerical example. Key words: Fuzzy perceptive model, Markov decision process, average criterion, fuzzy perceptive value, optimal policy function ∗ Corresponding author