On Leader Following and Classification

International audienceService and assistance robots that must move in human environment must address the difficult issue of navigating in dynamic environments. As it has been shown in previous works, in such situations the robots can take advantage of the motion of persons by following them, managing to move together with humans in difficult situations. In those circumstances, the problem to be solved is how to choose a human leader to be followed. This work proposes an innovative method for leader selection, based on human experience. A learning framework is developed, where data is acquired, labeled and then used to train an AdaBoost classification algorithm, to determine if a candidate is a bad or a good leader, and also to study the contribution of features to the classification process

Adaptive Navigation Control for Swarms of Autonomous Mobile Robots

This paper was devoted to developing a new and general coordinated adaptive navigation scheme for large-scale mobile robot swarms adapting to geographically constrained environments. Our distributed solution approach was built on the following assumptions: anonymity, disagreement on common coordinate systems, no pre-selected leader, and no direct communication. The proposed adaptive navigation was largely composed of four functions, commonly relying on dynamic neighbor selection and local interaction. When each robot found itself what situation it was in, individual appropriate ranges for neighbor selection were defined within its limited sensing boundary and the robots properly selected their neighbors in the limited range. Through local interactions with the neighbors, each robot could maintain a uniform distance to its neighbors, and adapt their direction of heading and geometric shape. More specifically, under the proposed adaptive navigation, a group of robots could be trapped in a dead-end passage,but they merge with an adjacent group to emergently escape from the dead-end passage. Furthermore, we verified the effectiveness of the proposed strategy using our in-housesimulator. The simulation results clearly demonstrated that the proposed algorithm is a simple yet robust approach to autonomous navigation of robot swarms in highlyclutteredenvironments. Since our algorithm is local and completely scalable to any size, it is easily implementable on a wide variety of resource-constrained mobile robots andplatforms. Our adaptive navigation control for mobile robot swarms is expected to be used in many applications ranging from examination and assessment of hazardous environments to domestic applications

How the other half lives: CRISPR-Cas's influence on bacteriophages

CRISPR-Cas is a genetic adaptive immune system unique to prokaryotic cells used to combat phage and plasmid threats. The host cell adapts by incorporating DNA sequences from invading phages or plasmids into its CRISPR locus as spacers. These spacers are expressed as mobile surveillance RNAs that direct CRISPR-associated (Cas) proteins to protect against subsequent attack by the same phages or plasmids. The threat from mobile genetic elements inevitably shapes the CRISPR loci of archaea and bacteria, and simultaneously the CRISPR-Cas immune system drives evolution of these invaders. Here we highlight our recent work, as well as that of others, that seeks to understand phage mechanisms of CRISPR-Cas evasion and conditions for population coexistence of phages with CRISPR-protected prokaryotes.Comment: 24 pages, 8 figure

From smart and corporate to urban and edgy: revitalising organisations in turbulent environments

Purpose: This paper aims to address issues surrounding the revitalising of organisations in turbulent environments. Design/methodology/approach: The paper contains a discussion of relevant issues and presentation of research which considers how leaders today are choosing to function in a very uncertain environment, that of higher education. Findings: The characteristics of urban and edgy organisations were all found to be evident in the leaders style in higher education. However, it was identified that this type of leadership rests on two critical axis–Knowledge management (shared and open) and the overarching style of leadership (empowerment and encouragement). Research limitations/implications: This work is introductory and used a small sample as a pilot–further more extensive work is needed in this area. Practical implications: This paper has introduced the idea of a new label for organisations which find themselves to be so full of diversity and differences that they can be characterised as being “on the edge” of danger–yet these organisations have found a way to be something which is separate from that of the urban character–important, flexible, dynamic, and playing a central role in development of new ideas. Originality/value: The contribution made to the discipline of leadership is the introduction of a new way of looking at organisation–the work offers new ways of looking at established ideas, through new lenses which may assist leaders and all who work in large organisations

Towards robots reasoning about group behavior of museum visitors: leader detection and group tracking

The final publication is available at IOS Press through http://dx.doi.org/10.3233/AIS-170467Peer ReviewedPostprint (author's final draft

Optimal Rate Sampling in 802.11 Systems

In 802.11 systems, Rate Adaptation (RA) is a fundamental mechanism allowing transmitters to adapt the coding and modulation scheme as well as the MIMO transmission mode to the radio channel conditions, and in turn, to learn and track the (mode, rate) pair providing the highest throughput. So far, the design of RA mechanisms has been mainly driven by heuristics. In contrast, in this paper, we rigorously formulate such design as an online stochastic optimisation problem. We solve this problem and present ORS (Optimal Rate Sampling), a family of (mode, rate) pair adaptation algorithms that provably learn as fast as it is possible the best pair for transmission. We study the performance of ORS algorithms in both stationary radio environments where the successful packet transmission probabilities at the various (mode, rate) pairs do not vary over time, and in non-stationary environments where these probabilities evolve. We show that under ORS algorithms, the throughput loss due to the need to explore sub-optimal (mode, rate) pairs does not depend on the number of available pairs, which is a crucial advantage as evolving 802.11 standards offer an increasingly large number of (mode, rate) pairs. We illustrate the efficiency of ORS algorithms (compared to the state-of-the-art algorithms) using simulations and traces extracted from 802.11 test-beds.Comment: 52 page

Experimental Evaluation of Large Scale WiFi Multicast Rate Control

WiFi multicast to very large groups has gained attention as a solution for multimedia delivery in crowded areas. Yet, most recently proposed schemes do not provide performance guarantees and none have been tested at scale. To address the issue of providing high multicast throughput with performance guarantees, we present the design and experimental evaluation of the Multicast Dynamic Rate Adaptation (MuDRA) algorithm. MuDRA balances fast adaptation to channel conditions and stability, which is essential for multimedia applications. MuDRA relies on feedback from some nodes collected via a light-weight protocol and dynamically adjusts the rate adaptation response time. Our experimental evaluation of MuDRA on the ORBIT testbed with over 150 nodes shows that MuDRA outperforms other schemes and supports high throughput multicast flows to hundreds of receivers while meeting quality requirements. MuDRA can support multiple high quality video streams, where 90% of the nodes report excellent or very good video quality