Hybrid autonomous control for heterogeneous multi-agent system

Reinforcement learning is an adaptive and flexible control method for autonomous system. In our previous works, we had proposed a reinforcement learning algorithm for redundant systems: &quot;Q-learning with dynamic structuring of exploration space based on GA (QDSEGA)&quot;, and applied it to multi-agent systems. However previous works of the QDSEGA have been restricted to homogeneous agents. In this paper, we extend our previous works of multi-agent systems, and propose a hybrid autonomous control method for heterogeneous multi-agent systems. To demonstrate the effectiveness of the proposed method, simulations of transportation task by 10 heterogeneous mobile robots have been carried out. As a result effective behaviors have been obtained. </p

Learning obstacle avoidance with an operant behavioral model

Artificial intelligence researchers have been attracted by the idea of having robots learn how to accomplish a task, rather than being told explicitly. Reinforcement learning has been proposed as an appealing framework to be used in controlling mobile agents. Robot learning research, as well as research in biological systems, face many similar problems in order to display high flexibility in performing a variety of tasks. In this work, the controlling of a vehicle in an avoidance task by a previously developed operant learning model (a form of animal learning) is studied. An environment in which a mobile robot with proximity sensors has to minimize the punishment for colliding against obstacles is simulated. The results were compared with the Q-Learning algorithm, and the proposed model had better performance. In this way a new artificial intelligence agent inspired by neurobiology, psychology, and ethology research is proposed.Fil: Gutnisky, D. A.. Universidad de Buenos Aires. Facultad de Ingeniería.Instituto de Ingeniería Biomédica; ArgentinaFil: Zanutto, Bonifacio Silvano. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Biología y Medicina Experimental. Fundación de Instituto de Biología y Medicina Experimental. Instituto de Biología y Medicina Experimental; Argentina. Universidad de Buenos Aires. Facultad de Ingeniería.Instituto de Ingeniería Biomédica; Argentin

Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

A Voice-Enabled Framework for Recommender and Adaptation Systems in E-Learning

With the proliferation of learning resources on the Web, finding suitable content (using telephone) has become a rigorous task for voice-based online learners to achieve better performance. The problem with Finding Content Suitability (FCS) with voice E-Learning applications is more complex when the sight-impaired learner is involved. Existing voice-enabled applications in the domain of E-Learning lack the attributes of adaptive and reusable learning objects to be able to address the FCS problem. This study provides a Voice-enabled Framework for Recommender and Adaptation (VeFRA) Systems in E-learning and an implementation of a system based on the framework with dual user interfaces – voice and Web. A usability study was carried out in a visually impaired and non-visually impaired school using the International Standard Organization’s (ISO) 9241-11 specification to determine the level of effectiveness, efficiency and user satisfaction. The result of the usability evaluation reveals that the prototype application developed for the school has “Good Usability” rating of 4.13 out of 5 scale. This shows that the application will not only complement existing mobile and Web-based learning systems, but will be of immense benefit to users, based on the system’s capacity for taking autonomous decisions that are capable of adapting to the needs of both visually impaired and non-visually impaired learners