Reasoning about Benefits and Costs of Interaction with Users in Real-time Decision Making Environments with Application to Healthcare Scenarios

This thesis examines the problem of having an intelligent agent reasoning about interaction with users in real-time decision making environments. Our work is motivated by the models of Fleming and Cheng, which reason about interaction sensitive to both expected quality of decision (following interaction) and cost of bothering users. In particular, we are interested in dynamic, time critical scenarios. This leads first of all to a novel process known as strategy regeneration, whereby the parameter values representing the users and the task at hand are refreshed periodically, in order to make effective decisions about which users to interact with, for the best decision making. We also introduce two new parameters that are modeled: each user's lack of expertise (with the task at hand) and the level of criticality of each task. These factors are then integrated into the process of reasoning about interaction to choose the best overall strategy, deciding which users to ask to resolve the current task. We illustrate the value of our framework for the application of decision making in hospital emergency room scenarios and offer validation of the approach, both through examples and from simulations. To sum up, we provide a framework for reasoning about interaction with users through user modeling for dynamic environments. In addition, we present some insights into how to improve the process of hospital emergency room decision making

Aggregate Farming in the Cloud: The AFarCloud ECSEL project

Farming is facing many economic challenges in terms of productivity and cost-effectiveness. Labor shortage partly due to depopulation of rural areas, especially in Europe, is another challenge. Domain specific problems such as accurate monitoring of soil and crop properties and animal health are key factors for minimizing economical risks, and not risking human health. The ECSEL AFarCloud (Aggregate Farming in the Cloud) project will provide a distributed platform for autonomous farming that will allow the integration and cooperation of agriculture Cyber Physical Systems in real-time in order to increase efficiency, productivity, animal health, food quality and reduce farm labor costs. Moreover, such a platform can be integrated with farm management software to support monitoring and decision-making solutions based on big data and real-time data mining techniques.publishedVersio

An assigned responsibility system for robotic teleoperation control

This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan’s execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications

Probabilistic Human-Robot Information Fusion

This thesis is concerned with combining the perceptual abilities of mobile robots and human operators to execute tasks cooperatively. It is generally agreed that a synergy of human and robotic skills offers an opportunity to enhance the capabilities of today’s robotic systems, while also increasing their robustness and reliability. Systems which incorporate both human and robotic information sources have the potential to build complex world models, essential for both automated and human decision making. In this work, humans and robots are regarded as equal team members who interact and communicate on a peer-to-peer basis. Human-robot communication is addressed using probabilistic representations common in robotics. While communication can in general be bidirectional, this work focuses primarily on human-to-robot information flow. More specifically, the approach advocated in this thesis is to let robots fuse their sensor observations with observations obtained from human operators. While robotic perception is well-suited for lower level world descriptions such as geometric properties, humans are able to contribute perceptual information on higher abstraction levels. Human input is translated into the machine representation via Human Sensor Models. A common mathematical framework for humans and robots reinforces the notion of true peer-to-peer interaction. Human-robot information fusion is demonstrated in two application domains: (1) scalable information gathering, and (2) cooperative decision making. Scalable information gathering is experimentally demonstrated on a system comprised of a ground vehicle, an unmanned air vehicle, and two human operators in a natural environment. Information from humans and robots was fused in a fully decentralised manner to build a shared environment representation on multiple abstraction levels. Results are presented in the form of information exchange patterns, qualitatively demonstrating the benefits of human-robot information fusion. The second application domain adds decision making to the human-robot task. Rational decisions are made based on the robots’ current beliefs which are generated by fusing human and robotic observations. Since humans are considered a valuable resource in this context, operators are only queried for input when the expected benefit of an observation exceeds the cost of obtaining it. The system can be seen as adjusting its autonomy at run-time based on the uncertainty in the robots’ beliefs. A navigation task is used to demonstrate the adjustable autonomy system experimentally. Results from two experiments are reported: a quantitative evaluation of human-robot team effectiveness, and a user study to compare the system to classical teleoperation. Results show the superiority of the system with respect to performance, operator workload, and usability

An Ex-Ante Rational Distributed Resource Allocation System using Transfer of Control Strategies for Preemption with Applications to Emergency Medicine

Within the artificial intelligence subfield of multiagent systems, one challenge that arises is determining how to efficiently allocate resources to all agents in a way that maximizes the overall expected utility. In this thesis, we explore a distributed solution to this problem, one in which the agents work together to coordinate their requests for resources and which is considered to be ex-ante rational: in other words, requiring agents to be willing to give up their current resources to those with greater need by reasoning about what is for the common good. Central to our solution is allowing for preemption of tasks that are currently occupying resources; this is achieved by introducing a concept from adjustable autonomy multiagent systems known as a transfer of control (TOC) strategy. In essence a TOC strategy is a plan of an agent to acquire resources at future times, and can be used as a contingency plan that an agent will execute if it loses its current resource. The inclusion of TOC strategies ultimately provides for a greater optimism among agents about their future resource acquisitions, allowing for more generous behaviours, and for agents to more frequently agree to relinquish current resources, resulting in more effective preemption policies. Three central contributions arise. The first is an improved methodology for generating transfer of control strategies efficiently, using a dynamic programming approach, which enables a more effective employment of TOCs in our resource allocation solution. The second is an important clarification of the value of integrating learning techniques in order for agents to acquire improved estimates of the costs of preemption. The last is a validation of the overall multiagent resource allocation (MARA) solution, using simulations which show quantifiable benefits of our novel approach. In particular, we consider in detail the emergency medical application of mass casualty incidents and are able to demonstrate that our approach of integrating transfer of control strategies results in effective allocation of patients to doctors: ones which in simulations re- sult in dramatically fewer patients in a critical healthstate than are produced by competing MARA algorithms. In short, we offer a principled solution to the problem of preemption, allowing the elimination of a source of inefficiencies in fully distributed multiagent resource allocation systems; a faster method for generation of transfer of control strategies; and a convincing application of the system to a real world problem where human lives are at stake

Organization based multiagent architecture for distributed environments

[EN]Distributed environments represent a complex field in which applied solutions should be flexible and include significant adaptation capabilities. These environments are related to problems where multiple users and devices may interact, and where simple and local solutions could possibly generate good results, but may not be effective with regards to use and interaction. There are many techniques that can be employed to face this kind of problems, from CORBA to multi-agent systems, passing by web-services and SOA, among others. All those methodologies have their advantages and disadvantages that are properly analyzed in this documents, to finally explain the new architecture presented as a solution for distributed environment problems. The new architecture for solving complex solutions in distributed environments presented here is called OBaMADE: Organization Based Multiagent Architecture for Distributed Environments. It is a multiagent architecture based on the organizations of agents paradigm, where the agents in the architecture are structured into organizations to improve their organizational capabilities. The reasoning power of the architecture is based on the Case-Based Reasoning methology, being implemented in a internal organization that uses agents to create services to solve the external request made by the users. The OBaMADE architecture has been successfully applied to two different case studies where its prediction capabilities have been properly checked. Those case studies have showed optimistic results and, being complex systems, have demonstrated the abstraction and generalizations capabilities of the architecture. Nevertheless OBaMADE is intended to be able to solve much other kind of problems in distributed environments scenarios. It should be applied to other varieties of situations and to other knowledge fields to fully develop its potencial.[ES]Los entornos distribuidos representan un campo de conocimiento complejo en el que las soluciones a aplicar deben ser flexibles y deben contar con gran capacidad de adaptación. Este tipo de entornos está normalmente relacionado con problemas donde varios usuarios y dispositivos entran en juego. Para solucionar dichos problemas, pueden utilizarse sistemas locales que, aunque ofrezcan buenos resultados en términos de calidad de los mismos, no son tan efectivos en cuanto a la interacción y posibilidades de uso. Existen múltiples técnicas que pueden ser empleadas para resolver este tipo de problemas, desde CORBA a sistemas multiagente, pasando por servicios web y SOA, entre otros. Todas estas mitologías tienen sus ventajas e inconvenientes, que se analizan en este documento, para explicar, finalmente, la nueva arquitectura presentada como una solución para los problemas generados en entornos distribuidos. La nueva arquitectura aquí se llama OBaMADE, que es el acrónimo del inglés Organization Based Multiagent Architecture for Distributed Environments (Arquitectura Multiagente Basada en Organizaciones para Entornos Distribuidos). Se trata de una arquitectura multiagente basasa en el paradigma de las organizaciones de agente, donde los agentes que forman parte de la arquitectura se estructuran en organizaciones para mejorar sus capacidades organizativas. La capacidad de razonamiento de la arquitectura está basada en la metodología de razonamiento basado en casos, que se ha implementado en una de las organizaciones internas de la arquitectura por medio de agentes que crean servicios que responden a las solicitudes externas de los usuarios. La arquitectura OBaMADE se ha aplicado de forma exitosa a dos casos de estudio diferentes, en los que se han demostrado sus capacidades predictivas. Aplicando OBaMADE a estos casos de estudio se han obtenido resultados esperanzadores y, al ser sistemas complejos, se han demostrado las capacidades tanto de abstracción como de generalización de la arquitectura presentada. Sin embargo, esta arquitectura está diseñada para poder ser aplicada a más tipo de problemas de entornos distribuidos. Debe ser aplicada a más variadas situaciones y a otros campos de conocimiento para desarrollar completamente el potencial de esta arquitectura

Agent Based Modeling and Simulation Framework for Supply Chain Risk Management

This research develops a flexible agent-based modeling and simulation (ABMS) framework for supply chain risk management with significant enhancements to standard ABMS methods and supply chain risk modeling. Our framework starts with the use of software agents to gather and process input data for use in our simulation model. For our simulation model, we extend an existing mathematical framework for discrete event simulation (DES) to ABMS and then implement the concepts of variable resolution modeling from the DES domain to ABMS and provide further guidelines for aggregation and disaggregation of supply chain models. Existing supply chain risk management research focuses on consumable item supply chains. Since the Air Force supply chain contains many reparable items, we fill this gap with our risk metrics framework designed for reparable item supply chains, which have greater complexity than consumable item supply chains. We present new metrics, along with existing metrics, in a framework for reparable item supply chain risk management and discuss aggregation and disaggregation of metrics for use with our variable resolution modeling

Coalition based approach for shop floor agility – a multiagent approach

Dissertation submitted for a PhD degree in Electrical Engineering, speciality of Robotics and Integrated Manufacturing from the Universidade Nova de Lisboa, Faculdade de Ciências e TecnologiaThis thesis addresses the problem of shop floor agility. In order to cope with the disturbances and uncertainties that characterise the current business scenarios faced by manufacturing companies, the capability of their shop floors needs to be improved quickly, such that these shop floors may be adapted, changed or become easily modifiable (shop floor reengineering). One of the critical elements in any shop floor reengineering process is the way the control/supervision architecture is changed or modified to accommodate for the new processes and equipment. This thesis, therefore, proposes an architecture to support the fast adaptation or changes in the control/supervision architecture. This architecture postulates that manufacturing systems are no more than compositions of modularised manufacturing components whose interactions when aggregated are governed by contractual mechanisms that favour configuration over reprogramming. A multiagent based reference architecture called Coalition Based Approach for Shop floor Agility – CoBASA, was created to support fast adaptation and changes of shop floor control architectures with minimal effort. The coalitions are composed of agentified manufacturing components (modules), whose relationships within the coalitions are governed by contracts that are configured whenever a coalition is established. Creating and changing a coalition do not involve programming effort because it only requires changes to the contract that regulates it