Emergent Behavior Development and Control in Multi-Agent Systems

Emergence in natural systems is the development of complex behaviors that result from the aggregation of simple agent-to-agent and agent-to-environment interactions. Emergence research intersects with many disciplines such as physics, biology, and ecology and provides a theoretical framework for investigating how order appears to spontaneously arise in complex adaptive systems. In biological systems, emergent behaviors allow simple agents to collectively accomplish multiple tasks in highly dynamic environments; ensuring system survival. These systems all display similar properties: self-organized hierarchies, robustness, adaptability, and decentralized task execution. However, current algorithmic approaches merely present theoretical models without showing how these models actually create hierarchical, emergent systems. To fill this research gap, this dissertation presents an algorithm based on entropy and speciation - defined as morphological or physiological differences in a population - that results in hierarchical emergent phenomena in multi-agent systems. Results show that speciation creates system hierarchies composed of goal-aligned entities, i.e. niches. As niche actions aggregate into more complex behaviors, more levels emerge within the system hierarchy, eventually resulting in a system that can meet multiple tasks and is robust to environmental changes. Speciation provides a powerful tool for creating goal-aligned, decentralized systems that are inherently robust and adaptable, meeting the scalability demands of current, multi-agent system design. Results in base defense, k-n assignment, division of labor and resource competition experiments, show that speciated populations create hierarchical self-organized systems, meet multiple tasks and are more robust to environmental change than non-speciated populations

Artificial Intelligence Applications for Drones Navigation in GPS-denied or degraded Environments

L'abstract è presente nell'allegato / the abstract is in the attachmen

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

INVESTIGATIONS INTO THE COGNITIVE ABILITIES OF ALTERNATE LEARNING CLASSIFIER SYSTEM ARCHITECTURES

The Learning Classifier System (LCS) and its descendant, XCS, are promising paradigms for machine learning design and implementation. Whereas LCS allows classifier payoff predictions to guide system performance, XCS focuses on payoff-prediction accuracy instead, allowing it to evolve optimal classifier sets in particular applications requiring rational thought. This research examines LCS and XCS performance in artificial situations with broad social/commercial parallels, created using the non-Markov Iterated Prisoner\u27s Dilemma (IPD) game-playing scenario, where the setting is sometimes asymmetric and where irrationality sometimes pays. This research systematically perturbs a conventional IPD-playing LCS-based agent until it results in a full-fledged XCS-based agent, contrasting the simulated behavior of each LCS variant in terms of a number of performance measures. The intent is to examine the XCS paradigm to understand how it better copes with a given situation (if it does) than the LCS perturbations studied.Experiment results indicate that the majority of the architectural differences do have a significant effect on the agents\u27 performance with respect to the performance measures used in this research. The results of these competitions indicate that while each architectural difference significantly affected its agent\u27s performance, no single architectural difference could be credited as causing XCS\u27s demonstrated superiority in evolving optimal populations. Instead, the data suggests that XCS\u27s ability to evolve optimal populations in the multiplexer and IPD problem domains result from the combined and synergistic effects of multiple architectural differences.In addition, it is demonstrated that XCS is able to reliably evolve the Optimal Population [O] against the TFT opponent. This result supports Kovacs\u27 Optimality Hypothesis in the IPD environment and is significant because it is the first demonstrated occurrence of this ability in an environment other than the multiplexer and Woods problem domains.It is therefore apparent that while XCS performs better than its LCS-based counterparts, its demonstrated superiority may not be attributed to a single architectural characteristic. Instead, XCS\u27s ability to evolve optimal classifier populations in the multiplexer problem domain and in the IPD problem domain studied in this research results from the combined and synergistic effects of multiple architectural differences

Evolving hierarchical visually guided neural network agents to investigate complex interactions.

A complex system is a system with a large number of interacting components without any mechanism for central control that displays self organisation. Understanding how these interactions affect the overall behaviour of a system is of great interest to science. Indeed, researchers use a wide variety of models to investigate complex systems. The problem with most models is that they disregard the hierarchical nature of complex systems: they ignore the fact that components of real world systems tend to be complex systems as well. This prevents researchers from investigating the interactions taking place between the lower and the higher levels of the model which may be crucial in order to gain a full understanding of the examined phenomena and of complex systems in general. Therefore, this thesis introduces Mosaic World, a multi-agent model for the purpose of investigating interactions (focusing on 'complex' multilevel interactions) within a hierarchical complex system, in addition to other computational and biological hypotheses. Mosaic World comprises a population of evolving neural network agents that inhabit a changing visual environment. By analysing the interactions that occur within Mosaic World, this thesis demonstrates the importance of incorporating hierarchical complexity into a model, and contributes to our understanding of hierarchical complex systems by showing how selective pressures cause differentiation across levels. Additionally, the study of multilevel interactions is used to probe several hypotheses and provides the following contributions among others: Analysis of agent evolvability as affected by the usage of different types of structural mutations in the evolutionary process. Demonstration that agents controlled by modular neural networks are fitter than agents that are controlled by non-modular neural networks the improvement in fitness occurs through specialisation of modules. Empirical support for a biological theory suggesting that colour vision evolved as a method of dealing with ambiguous stimuli

Adaptable Spatial Agent-Based Facility Location for Healthcare Coverage

Lack of access to healthcare is responsible for the world’s poverty, mortality and morbidity. Public healthcare facilities (HCFs) are expected to be located such that they can be reached within reasonable distances of the patients’ locations, while at the same time providing complete service coverage. However, complete service coverage is generally hampered by resource availability. Therefore, the Maximal Covering Location Problem (MCLP), seeks to locate HCFs such that as much population as possible is covered within a desired service distance. A consideration to the population not covered introduces a distance constraint that is greater than the desired service distance, beyond which no population should be. Existing approaches to the MCLP exogenously set the number of HCFs and the distance parameters, with further assumption of equal access to HCFs, infinite or equal capacity of HCFs and data availability. These models tackle the real-world system as static and do not address its intrinsic complexity that is characterised by unstable and diverse geographic, demographic and socio-economic factors that influence the spatial distribution of population and HCFs, resource management, the number of HCFs and proximity to HCFs. Static analysis incurs more expenditure in the analytical and decision-making process for every additional complexity and heterogeneity. This thesis is focused on addressing these limitations and simplifying the computationally intensive problems. A novel adaptable and flexible simulation-based meta-heuristic approach is employed to determine suitable locations for public HCFs by integrating Geographic Information Systems (GIS) with Agent-Based Models (ABM). Intelligent, adaptable and autonomous spatial and non-spatial agents are utilized to interact with each other and the geographic environment, while taking independent decisions governed by spatial rules, such as •containment, •adjacency, •proximity and •connectivity. Three concepts are introduced: assess the coverage of existing HCFs using travel-time along the road network and determine the different average values of the service distance; endogenously determine the number and suitable locations of HCFs by integrating capacity and locational suitability constraints for maximizing coverage within the prevailing service distance; endogenously determine the distance constraint as the maximum distance between the population not covered within the desired service distance and its closest facility. The models’ validations on existing algorithms produce comparable and better results. With confirmed transferability, the thesis is applied to Lagos State, Nigeria in a disaggregated analysis that reflects spatial heterogeneity, to provide improved service coverage for healthcare. The assessment of the existing health service coverage and spatial distribution reveals disparate accessibility and insufficiency of the HCFs whose locations do not factor in the spatial distribution of the population. Through the application of the simulation-based approach, a cost-effective complete health service coverage is achieved with new HCFs. The spatial pattern and autocorrelation analysis reveal the influence of population distribution and geographic phenomenon on HCF location. The relationship of selected HCFs with other spatial features indicates agents’ compliant with spatial association. This approach proves to be a better alternative in resource constrained systems. The adaptability and flexibility meet the global health coverage agenda, the desires of the decision maker and the population, in the support for public health service coverage. In addition, a general theory of the system for a better-informed decision and analytical knowledge is obtained

Evolution of Control Programs for a Swarm of Autonomous Unmanned Aerial Vehicles

Unmanned aerial vehicles (UAVs) are rapidly becoming a critical military asset. In the future, advances in miniaturization are going to drive the development of insect size UAVs. New approaches to controlling these swarms are required. The goal of this research is to develop a controller to direct a swarm of UAVs in accomplishing a given mission. While previous efforts have largely been limited to a two-dimensional model, a three-dimensional model has been developed for this project. Models of UAV capabilities including sensors, actuators and communications are presented. Genetic programming uses the principles of Darwinian evolution to generate computer programs to solve problems. A genetic programming approach is used to evolve control programs for UAV swarms. Evolved controllers are compared with a hand-crafted solution using quantitative and qualitative methods. Visualization and statistical methods are used to analyze solutions. Results indicate that genetic programming is capable of producing effective solutions to multi-objective control problems

A Survey of Monte Carlo Tree Search Methods

Monte Carlo tree search (MCTS) is a recently proposed search method that combines the precision of tree search with the generality of random sampling. It has received considerable interest due to its spectacular success in the difficult problem of computer Go, but has also proved beneficial in a range of other domains. This paper is a survey of the literature to date, intended to provide a snapshot of the state of the art after the first five years of MCTS research. We outline the core algorithm's derivation, impart some structure on the many variations and enhancements that have been proposed, and summarize the results from the key game and nongame domains to which MCTS methods have been applied. A number of open research questions indicate that the field is ripe for future work