Decentralized Cooperative Planning for Automated Vehicles with Hierarchical Monte Carlo Tree Search

Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in heterogeneous environments. Based on cooperative modeling of other agents and Decoupled-UCT (a variant of MCTS), the algorithm evaluates the state-action-values of each agent in a cooperative and decentralized manner, explicitly modeling the interdependence of actions between traffic participants. Macro-actions allow for temporal extension over multiple time steps and increase the effective search depth requiring fewer iterations to plan over longer horizons. Without predefined policies for macro-actions, the algorithm simultaneously learns policies over and within macro-actions. The proposed method is evaluated under several conflict scenarios, showing that the algorithm can achieve effective cooperative planning with learned macro-actions in heterogeneous environments

A Neural Network Model for Cursive Script Production

This article describes a neural network model, called the VITEWRITE model, for generating handwriting movements. The model consists of a sequential controller, or motor program, that interacts with a trajectory generator to move a. hand with redundant degrees of freedom. The neural trajectory generator is the Vector Integration to Endpoint (VITE) model for synchronous variable-speed control of multijoint movements. VITE properties enable a simple control strategy to generate complex handwritten script if the hand model contains redundant degrees of freedom. The proposed controller launches transient directional commands to independent hand synergies at times when the hand begins to move, or when a velocity peak in a given synergy is achieved. The VITE model translates these temporally disjoint synergy commands into smooth curvilinear trajectories among temporally overlapping synergetic movements. The separate "score" of onset times used in most prior models is hereby replaced by a self-scaling activity-released "motor program" that uses few memory resources, enables each synergy to exhibit a unimodal velocity profile during any stroke, generates letters that are invariant under speed and size rescaling, and enables effortless. connection of letter shapes into words. Speed and size rescaling are achieved by scalar GO and GRO signals that express computationally simple volitional commands. Psychophysical data concerning band movements, such as the isochrony principle, asymmetric velocity profiles, and the two-thirds power law relating movement curvature and velocity arise as emergent properties of model interactions.National Science Foundation (IRI 90-24877, IRI 87-16960); Office of Naval Research (N00014-92-J-1309); Air Force Office of Scientific Research (F49620-92-J-0499); Defense Advanced Research Projects Agency (90-0083

The Fire and Smoke Model Evaluation Experiment—A Plan for Integrated, Large Fire–Atmosphere Field Campaigns

The Fire and Smoke Model Evaluation Experiment (FASMEE) is designed to collect integrated observations from large wildland fires and provide evaluation datasets for new models and operational systems. Wildland fire, smoke dispersion, and atmospheric chemistry models have become more sophisticated, and next-generation operational models will require evaluation datasets that are coordinated and comprehensive for their evaluation and advancement. Integrated measurements are required, including ground-based observations of fuels and fire behavior, estimates of fire-emitted heat and emissions fluxes, and observations of near-source micrometeorology, plume properties, smoke dispersion, and atmospheric chemistry. To address these requirements the FASMEE campaign design includes a study plan to guide the suite of required measurements in forested sites representative of many prescribed burning programs in the southeastern United States and increasingly common high-intensity fires in the western United States. Here we provide an overview of the proposed experiment and recommendations for key measurements. The FASMEE study provides a template for additional large-scale experimental campaigns to advance fire science and operational fire and smoke models

Working memory networks for learning multiple groupings of temporally ordered events: applications to 3-D visual object recognition

Working memory neural networks are characterized which encode the invariant temporal order of sequential events that may be presented at widely differing speeds, durations, and interstimulus intervals. This temporal order code is designed to enable all possible groupings of sequential events to be stably learned and remembered in real time, even as new events perturb the system. Such a competence is needed in neural architectures which self-organize learned codes for variable-rate speech perception, sensory-motor planning, or 3-D visual object recognition. Using such a working memory, a self-organizing architecture for invariant 3-D visual object recognition is described that is based on the model of Seibert and Waxman [1].Air Force Office of Scientific Research (90-128, 90-0175); British Petroleum (89-A-1204); Defense Advanced Research Projects Agency (90-0083); National Science Foundation (IRI 90-00530, IRI 87-16960