Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Popper's Mosquito Swarm: Architecture, Cybernetics and the Operationalization of Complexity

For the architecture theorist Charles Jencks, Frank Gehry's Guggenheim Museum in Bilbao, Peter Eisenman's Aronoff Center in Cincinnati, and Daniel Libeskind's Jewish Museum in Berlin are architectural replies to the question of the cultural outgrowths of ‘complexity science'. In the light of new technologies being used in architecture, it seems necessary to explore Jencks's position from new perspectives and to ask: in the context of architectural production, is it possible to discuss complexity not only as an artistic-aesthetic category, but also as a fundamental technical-constructive idea? Contemporary information technologies confront architectural-theoretical discourses with developments that call for an expanded theoretical instrumentarium. It remains unclear which architectural language might be used best to approach the concept of complexity associated with information technologie

A Comprehensive Review of Bio-Inspired Optimization Algorithms Including Applications in Microelectronics and Nanophotonics

The application of artificial intelligence in everyday life is becoming all-pervasive and unavoidable. Within that vast field, a special place belongs to biomimetic/bio-inspired algorithms for multiparameter optimization, which find their use in a large number of areas. Novel methods and advances are being published at an accelerated pace. Because of that, in spite of the fact that there are a lot of surveys and reviews in the field, they quickly become dated. Thus, it is of importance to keep pace with the current developments. In this review, we first consider a possible classification of bio-inspired multiparameter optimization methods because papers dedicated to that area are relatively scarce and often contradictory. We proceed by describing in some detail some more prominent approaches, as well as those most recently published. Finally, we consider the use of biomimetic algorithms in two related wide fields, namely microelectronics (including circuit design optimization) and nanophotonics (including inverse design of structures such as photonic crystals, nanoplasmonic configurations and metamaterials). We attempted to keep this broad survey self-contained so it can be of use not only to scholars in the related fields, but also to all those interested in the latest developments in this attractive area

Mobile Robots

The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations

Making a name for Anonymous. Digital culture , anonymous publics and transgressie subjectivities

Recently, researchers from various domains of social sciences have been particularly concerned with the social, cultural, and political impacts of digital media. To give an account of the specific processes behind the formation of Anonymous, I develop a microsociological framework for the analysis of disembodied global forms – anchoring such forms in intersubjective reciprocity. In order to move beyond interpretative sociology’s emphasis on language as society’s integrative function, I privileged the dimensions of temporality, rhythms and patterns. I also focused on how “disembodied” internet collectives are enacted and assembled within computer screens, terminals, and the digital networks that connect them. My analysis takes into account those temporalities, projections and reflections, which point to the non-symbolic components of mediated sociality. Those dynamic interconnections behind the Anonymous collective are approached through the notions of publics, networks or even swarms.Recientemente, investigadores de diversos campos de las ciencias sociales se han enfocado en los impactos sociales, culturales y políticos de los medios digitales. Para dar cuenta de los procesos específicos detrás de la formación de Anonymous, yo desarrollo un marco microsociológico para el análisis de formas globales “desencarnadas” de sociabilidad, anclando estas formas en la reciprocidad intersubjetiva mediada. Para ir más allá del énfasis en el lenguaje como función integrativa de la sociedad de la sociología interpretativa, privilegié las dimensiones de la temporalidad, los ritmos y los patrones en mi análisis. También me enfoqué a ver cómo los colectivos de Internet "desencarnados" se construyen en pantallas de computadora, terminales y las redes digitales que los conectan. Mi análisis tiene en cuenta esas temporalidades, proyecciones y reflexiones, que apuntan a los componentes no simbólicos de la socialidad mediada. Esas interconexiones dinámicas detrás del colectivo Anónimo se acercan a través de las nociones de públicos, redes y enjambres.Recentment, investigadors de diversos camps de les ciències socials s'han enfocat en els impactes socials, culturals i polítics dels mitjans digitals. Per donar compte dels processos específics darrere de la formació d'Anonymous, jo desenvolupament un marc miocrosociològic per a l'anàlisi de formes globals "desencarnades" de sociabilitat, ancorant aquestes formes en la reciprocitat intersubjectiva intervinguda. Per anar més enllà de l'èmfasi en el llenguatge com a funció integrativa de la societat de la sociologia interpretativa, privilegiï les dimensions de la temporalitat, els ritmes i els patrons en la meva anàlisi. També vaig focalitzar a veure com els col·lectius d'Internet "desencarnats" es construeixen en pantalles d'ordinador, terminals i les xarxes digitals que els connecten. La meva anàlisi té en compte aquestes temporalitats, projeccions i reflexions, que apunten als components no simbòlics de la socialitat intervinguda. Aquestes interconnexions dinàmiques darrere del col·lectiu Anònim s'acosten a través de les nocions de públics, xarxes i eixams

Advances in Artificial Intelligence: Models, Optimization, and Machine Learning

The present book contains all the articles accepted and published in the Special Issue “Advances in Artificial Intelligence: Models, Optimization, and Machine Learning” of the MDPI Mathematics journal, which covers a wide range of topics connected to the theory and applications of artificial intelligence and its subfields. These topics include, among others, deep learning and classic machine learning algorithms, neural modelling, architectures and learning algorithms, biologically inspired optimization algorithms, algorithms for autonomous driving, probabilistic models and Bayesian reasoning, intelligent agents and multiagent systems. We hope that the scientific results presented in this book will serve as valuable sources of documentation and inspiration for anyone willing to pursue research in artificial intelligence, machine learning and their widespread applications

A Multi-Vehicle Cooperative Localization Approach for an Autonomy Framework

Offensive techniques produced by technological advancement present opportunities for adversaries to threaten the operational advantages of our joint and allied forces. Combating these new methodologies requires continuous and rapid development towards our own set of \game-changing technologies. Through focused development of unmanned systems and autonomy, the Air Force can strive to maintain its technological superiority. Furthermore, creating a robust framework capable of testing and evaluating the principles that define autonomy allows for the exploration of future capabilities. This research presents development towards a hybrid reactive/deliberative architecture that will allow for the testing of the principles of task, cognitive, and peer flexibility. Specifically, this work explores peer flexibility in multi-robot systems to solve a localization problem using the Hybrid Architecture for Multiple Robots (HAMR) as a basis for the framework. To achieve this task a combination of vehicle perception and navigation tools formulate inferences on an operating environment. These inferences are then used for the construction of Factor Graphs upon which the core algorithm for localization implements iSAM2, a high performing incremental matrix factorization method. A key component for individual vehicle control within the framework is the Unified Behavior Framework (UBF), a behavior-based control architecture which uses modular arbitration techniques to generate actions that enable actuator control. Additionally, compartmentalization of a World Model is explored through the use of containers to minimize communication overhead and streamline state information. The design for this platform takes on a polymorphic approach for modularity and robustness enabling future development