Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

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

Random Finite Set Theory and Optimal Control of Large Collaborative Swarms

Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves the control problem using Model Predictive Control (MPC) to overcome the aforementioned challenges. Computationally efficient solutions are obtained via the Iterative Linear Quadratic Regulator (ILQR). Information divergence is used to define the distance between the swarm RFS and the desired swarm configuration. Then, a stochastic optimal control problem is formulated using a modified L2^2 distance. Simulation results using MPC and ILQR show that swarm intensities converge to a target destination, and the RFS control formulation can vary in the number of target destinations. ILQR also provides a more computationally efficient solution to the RFS swarm problem when compared to the MPC solution. Lastly, the RFS control solution is applied to a spacecraft relative motion problem showing the viability for this real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731

A Dynamic Game Model of Collective Choice in Multi-Agent Systems

Inspired by successful biological collective decision mechanisms such as honey bees searching for a new colony or the collective navigation of fish schools, we consider a mean field games (MFG)-like scenario where a large number of agents have to make a choice among a set of different potential target destinations. Each individual both influences and is influenced by the group's decision, as well as the mean trajectory of all the agents. The model can be interpreted as a stylized version of opinion crystallization in an election for example. The agents' biases are dictated first by their initial spatial position and, in a subsequent generalization of the model, by a combination of initial position and a priori individual preference. The agents have linear dynamics and are coupled through a modified form of quadratic cost. Fixed point based finite population equilibrium conditions are identified and associated existence conditions are established. In general multiple equilibria may exist and the agents need to know all initial conditions to compute them precisely. However, as the number of agents increases sufficiently, we show that 1) the computed fixed point equilibria qualify as epsilon Nash equilibria, 2) agents no longer require all initial conditions to compute the equilibria but rather can do so based on a representative probability distribution of these conditions now viewed as random variables. Numerical results are reported