8,664 research outputs found

    Mechanism design for spatio-temporal request satisfaction in mobile networks

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    Mobile agents participating in geo-presence-capable crowdsourcing applications should be presumed rational, competitive, and willing to deviate from their routes if given the right incentive. In this paper, we design a mechanism that takes into consideration this rationality for request satisfaction in such applications. We propose the Geo-temporal Request Satisfaction (GRS) problem to be that of finding the optimal assignment of requests with specific spatio-temporal characteristics to competitive mobile agents subject to spatio-temporal constraints. The objective of the GRS problem is to maximize the total profit of the system subject to our rationality assumptions. We define the problem formally, prove that it is NP-Complete, and present a practical solution mechanism, which we prove to be convergent, and which we evaluate experimentally.National Science Foundation (1012798, 0952145, 0820138, 0720604, 0735974

    Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

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    RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved

    Rational coordination of crowdsourced resources for geo-temporal request satisfaction

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    Existing mobile devices roaming around the mobility field should be considered as useful resources in geo-temporal request satisfaction. We refer to the capability of an application to access a physical device at particular geographical locations and times as GeoPresence, and we pre- sume that mobile agents participating in GeoPresence-capable applica- tions should be rational, competitive, and willing to deviate from their routes if given the right incentive. In this paper, we define the Hitch- hiking problem, which is that of finding the optimal assignment of re- quests with specific spatio-temporal characteristics to competitive mobile agents subject to spatio-temporal constraints. We design a mechanism that takes into consideration the rationality of the agents for request sat- isfaction, with an objective to maximize the total profit of the system. We analytically prove the mechanism to be convergent with a profit com- parable to that of a 1/2-approximation greedy algorithm, and evaluate its consideration of rationality experimentally.Supported in part by NSF Grants; #1430145, #1414119, #1347522, #1239021, and #1012798

    Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

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    This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams
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