Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

Large-Scale Distributed Coalition Formation

The CyberCraft project is an effort to construct a large scale Distributed Multi-Agent System (DMAS) to provide autonomous Cyberspace defense and mission assurance for the DoD. It employs a small but flexible agent structure that is dynamically reconfigurable to accommodate new tasks and policies. This document describes research into developing protocols and algorithms to ensure continued mission execution in a system of one million or more agents, focusing on protocols for coalition formation and Command and Control. It begins by building large-scale routing algorithms for a Hierarchical Peer to Peer structured overlay network, called Resource-Clustered Chord (RC-Chord). RC-Chord introduces the ability to efficiently locate agents by resources that agents possess. Combined with a task model defined for CyberCraft, this technology feeds into an algorithm that constructs task coalitions in a large-scale DMAS. Experiments reveal the flexibility and effectiveness of these concepts for achieving maximum work throughput in a simulated CyberCraft environment

Co-productive agility and four collaborative pathways to sustainability transformations

Co-production, the collaborative weaving of research and practice by diverse societal actors, is argued to play an important role in sustainability transformations. Yet, there is still poor understanding of how to navigate the tensions that emerge in these processes. Through analyzing 32 initiatives worldwide that co-produced knowledge and action to foster sustainable social-ecological relations, we conceptualize ‘co-productive agility’ as an emergent feature vital for turning tensions into transformations. Co-productive agility refers to the willingness and ability of diverse actors to iteratively engage in reflexive dialogues to grow shared ideas and actions that would not have been possible from the outset. It relies on embedding knowledge production within processes of change to constantly recognize, reposition, and navigate tensions and opportunities. Co-productive agility opens up multiple pathways to transformation through: (1) elevating marginalized agendas in ways that maintain their integrity and broaden struggles for justice; (2) questioning dominant agendas by engaging with power in ways that challenge assumptions, (3) navigating conflicting agendas to actively transform interlinked paradigms, practices, and structures; (4) exploring diverse agendas to foster learning and mutual respect for a plurality of perspectives. We explore six process considerations that vary by these four pathways and provide a framework to enable agility in sustainability transformations. We argue that research and practice spend too much time closing down debate over different agendas for change – thereby avoiding, suppressing, or polarizing tensions, and call for more efforts to facilitate better interactions among different agendas

INSTITUTIONAL CHANGE IN INDIAN AGRICULTURE

Globalization, privatization and scientific advancements pose new challenges and opportunities for the development of Indian agriculture. The emerging paradigm shifts focus to creation and application of new knowledge for agricultural development and global competitiveness. To facilitate this shift and realize greater economic efficiency, a new set of responsive institutions should emerge. This volume discusses the direction of institutional change in Indian agriculture. The roles of the state, markets and collective actions are examined for evolving the knowledge-intensive agriculture. The contributed papers from a number of leading researchers cover the institutions for R&D, land and water resources, credit, marketing, trade and agro-processing.Industrial Organization, International Development,

Control Architecture Modeling for Future Power Systems

Uncontrollable power generation, distributed energy resources, controllable demand, etc. are fundamental aspects of energy systems largely based on renewable energy supply. These technologies have in common that they contradict the conventional categories of electric power system operation. As their introduction has proceeded incrementally in the past, operation strategies of the power system could be adapted. For example much more wind power could be integrated than originally anticipated, largely due to the flexibility reserves already present in the power system, and the possibility of interregional electricity exchange. However, at the same time, it seems that the overall system design cannot keep up by simply adapting in response to changes, but that also new strategies have to be designed in anticipation. Changes to the electricity markets have been suggested to adapt to the limited predictability of wind power, and several new control strategies have been proposed, in particular to enable the control of distributed energy resources, including for example, distributed generation or electric vehicles. Market designs addressing the procurement of balancing resources are highly dependent on the operation strategies specifying the resource requirements. How should one decide which control strategy and market configuration is best for a future power system? Most research up to this point has addressed single isolated aspects of this design problem. Those of the ideas that fit with current markets and operation concepts are lucky; they can be evaluated on the present design. But how could they be evaluated on a potential future power system? Approaches are required that support the design and evaluation of power system operation and control in context of future energy scenarios. This work addresses this challenge, not by providing a universal solution, but by providing basic modeling methodology that enables better problem formulation and by suggesting an approach to addressing the general chicken/egg problem of planning and re-design of system operation and control. The dissertation first focuses on the development of models, diagrams, that support the conceptual design of control and operation strategies, where a central theme is the focus on modeling system goals and functions rather than system structure. The perspective is then shifted toward long-term energy scenarios and adaptation of power system operation, considering the integration of energy scenario models with the re-design of operation strategies. The main contributions in the first part are, firstly, by adaptation of an existing functional modeling approach called Multilevel Flow Modeling (MFM) to the power systems domain, identifying the means-ends composition of control levels and development of principles for the consistent modeling of control structures, a formalization of control-as-a-service; secondly, the formal mapping of fluctuating and controllable resources to a multi-scale and multi-stage representation of control and operation structures; and finally the application to some concrete study cases, including a present system balancing, and proposed control structures such as Microgrids and Cells. In the second part, the main contributions are the outline of a formation strategy, integrating the design and model-based evaluation of future power system operation concepts with iterative energy scenario development. Finally, a new modeling framework for development and evaluation of power system operation in context of energy-storage based power system balancing is introduced.<br/

How is Water Privatisation Justified? Frame Analysis of Poverty Reduction Strategy Papers (PRSPs).

Tutkielman lähtökohtana on oletus, että neoklassisesta talousteoriasta voidaan johtaa erityinen oikeusteoria, joka selittää veden yksityistämisen oikeutuksen. Tutkielman tavoitteena on kuvailla miten ja miksi veden yksityistämistä oikeutetaan kolmen tutkimuskysymyksen avulla: Minkälaisia ongelmia voidaan tunnistaa puhtaan juomaveden saannissa? Minkälaisia yksityistämistoimenpiteitä ehdotetaan näiden ongelmien ratkaisemiseksi? Miten näitä veden yksityistämistoimenpiteitä oikeutetaan? Tutkimuskysymykset kontekstualisoidaan tarkastelemalla kattavasti veden yksityistämisen historiaa ja nykyistä asemaa osana laajempaa neoliberaalia projektia sekä tutkimalla neoklassisen talousteorian normatiivista taustaa Pareto-optimaalisuuteen liittyvän käsitteistön avulla. Tutkimuksen aineistona käytetään 25:tä köyhyydenvähennysstrategiapaperia (Poverty Reduction Strategy Papers), jotka 25 matalan tulotason maata ovat julkaisseet yhteistyössä Maailmanpankin ja Kansainvälisen valuuttarahaston kanssa vuosina 2010-2014. Aineistoa tarkastellaan pääosin laadullisen tutkimuksen keinoin hyödyntämällä niin sisältö- kuin kehysanalyysiä tutkimusmenetelminä. Aineiston analyysin aikana esiin nousi ensiksi se, että huolimatta vesiongelmien laajuudesta ja suurista eroavaisuuksista, veden saannin ongelmat liittyivät pääasiallisesti veden epätasaiseen ja -oikeudenmukaiseen jakoon eikä niinkään veden aineelliseen niukkuuteen. Toiseksi tutkimus löysi kolme veden yksityistämistoimenpiteen strategiaa, joita olivat yksityistämisen strategia, kaupallistamisen strategia ja hallinnon vapauttamisen strategia. Viimeiseksi tutkimus löysi aineistoa tarkastelemalla neljä pääkehystä. Nämä kehykset olivat edistyksen kehys, taloudellisen hyödykkeen kehys, hallituksen vastainen kehys ja oikeuskehys. Tutkimustulokset viittaavat siihen, että veden yksityistämistoimenpiteet enenevissä määrin hämärtävät ’julkisen’ ja ’yksityisen’ välisen eron. Tämä tarkoittaa sitä, että ’julkinen’ toimii jo pitkälti markkinalogiikan mukaan eikä ero veden yksityistämisen ja valtion ohjauksen välillä ole enää yhtä merkittävä. Nämä toimenpiteet ovat oikeutettuja neoklassisesta talousteoriasta johdetun oikeusteorian avulla, joka pohjautuu Pareto-optimaalisuuteen. Näin kansainväliset rahoituslaitokset ja valtiot voivat paradoksaalisesti mahdollistaa vesihuoltojärjestelmien yksityistämistoimenpiteet, koska Pareto-optimaalisuus pyrkii luomaan utopistiset täydellisen kilpailun olosuhteet, missä vesiresurssit jaetaan kaikista tehokkaimmalla ja näin myös kaikista oikeudenmukaisimmalla tavalla.The premise of this thesis is that neoclassical economics as a particular theory of justice explains the justification of water privatisation. Hence, the aim of the study is to describe how and why water privatisation is justified by asking three research questions: What problems are distinguished in relation to access to safe drinking water? What privatisation measures are proposed as solutions? How are these water privatisation measures justified? These research questions are contextualised by providing a comprehensive account on the history and present status of water privatisation within the neoliberal project and examining the normative basis of neoclassical economics via the concept of Pareto optimality. This is done by analysing 25 Poverty Reduction Strategy Papers (PRSPs) that were published by 25 low-income countries under the guidance of the World Bank and the International Monetary Fund (IMF) during 2010-2014. These PRSPs are examined through content analysis and frame analysis in a largely qualitatively manner. In the analysis of PRSPs, the thesis found, first, that although the problems in relation to access to water were highly varied, the uneven and unequal access to water was more prevalent than physical water scarcity issues. Secondly, three strategies of privatisation measures were identified in PRSPs: strategy of privatisation, strategy of commercialisation and strategy of liberalisation of governance. Finally, the study found four principal frames justifying water privatisation in PRSPs. These frames were development frame, economic good frame, anti-government frame and right frame. The results suggest that water privatisation measures increasingly blur the distinction between ‘public’ and ‘private’. This implies that the ‘public’ is largely guided by the market logic, and thus the difference between water privatisation and public sector control is increasingly irrelevant. These privatisation measures are justified by drawing on neoclassical economics as a theory of justice that is based on Pareto optimality. This way, international financial institutions (IFIs) and states can paradoxically allow for privatisation measures in water supply systems since it can ideally create the conditions for perfect competition whereby water resources become allocated in the most efficient, and thus in the most just way

On Random Sampling for Compliance Monitoring in Opportunistic Spectrum Access Networks

In the expanding spectrum marketplace, there has been a long term evolution towards more market€“oriented mechanisms, such as Opportunistic Spectrum Access (OSA), enabled through Cognitive Radio (CR) technology. However, the potential of CR technologies to revolutionize wireless communications, also introduces challenges based upon the potentially non€“deterministic CR behaviour in the Electrospace. While establishing and enforcing compliance to spectrum etiquette rules are essential to realization of successful OSA networks in the future, there has only been recent increased research activity into enforcement. This dissertation presents novel work on the spectrum monitoring aspect, which is crucial to effective enforcement of OSA. An overview of the challenges faced by current compliance monitoring methods is first presented. A framework is then proposed for the use of random spectral sampling techniques to reduce data collection complexity in wideband sensing scenarios. This approach is recommended as an alternative to Compressed Sensing (CS) techniques for wideband spectral occupancy estimation, which may be difficult to utilize in many practical congested scenarios where compliance monitoring is required. Next, a low€“cost computational approach to online randomized temporal sensing deployment is presented for characterization of temporal spectrum occupancy in cognitive radio scenarios. The random sensing approach is demonstrated and its performance is compared to CS€“based approach for occupancy estimation. A novel frame€“based sampling inversion technique is then presented for cases when it is necessary to track the temporal behaviour of individual CRs or CR networks. Parameters from randomly sampled Physical Layer Convergence Protocol (PLCP) data frames are used to reconstruct occupancy statistics, taking account of missed frames due to sampling design, sensor limitations and frame errors. Finally, investigations into the use of distributed and mobile spectrum sensing to collect spatial diversity to improve the above techniques are presented, for several common monitoring tasks in spectrum enforcement. Specifically, focus is upon techniques for achieving consensus in dynamic topologies such as in mobile sensing scenarios