Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

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A Unified Framework for Solving Multiagent Task Assignment Problems

Multiagent task assignment problem descriptors do not fully represent the complex interactions in a multiagent domain, and algorithmic solutions vary widely depending on how the domain is represented. This issue is compounded as related research fields contain descriptors that similarly describe multiagent task assignment problems, including complex domain interactions, but generally do not provide the mechanisms needed to solve the multiagent aspect of task assignment. This research presents a unified approach to representing and solving the multiagent task assignment problem for complex problem domains. Ideas central to multiagent task allocation, project scheduling, constraint satisfaction, and coalition formation are combined to form the basis of the constrained multiagent task scheduling (CMTS) problem. Basic analysis reveals the exponential size of the solution space for a CMTS problem, approximated by O(2n(m+n)) based on the number of agents and tasks involved in a problem. The shape of the solution space is shown to contain numerous discontinuous regions due to the complexities involved in relational constraints defined between agents and tasks. The CMTS descriptor represents a wide range of classical and modern problems, such as job shop scheduling, the traveling salesman problem, vehicle routing, and cooperative multi-object tracking. Problems using the CMTS representation are solvable by a suite of algorithms, with varying degrees of suitability. Solution generating methods range from simple random scheduling to state-of-the-art biologically inspired approaches. Techniques from classical task assignment solvers are extended to handle multiagent task problems where agents can also multitask. Additional ideas are incorporated from constraint satisfaction, project scheduling, evolutionary algorithms, dynamic coalition formation, auctioning, and behavior-based robotics to highlight how different solution generation strategies apply to the complex problem space

Engineering technology for networks

Space Network (SN) modeling and evaluation are presented. The following tasks are included: Network Modeling (developing measures and metrics for SN, modeling of the Network Control Center (NCC), using knowledge acquired from the NCC to model the SNC, and modeling the SN); and Space Network Resource scheduling

Reduction of Machine Tool Times Through a Software/Hardware Integrated Solution

Toolmaking is an industry that creates metal moulds, generally of durable tool steels, for producing vacuum-formed and injection moulded plastic parts, which are used in thousands of everyday items such as mobile phones. At present toolmaking is labour intensive with each machining operation requiring manual supervision. The FASTOOL project was a European Union funded collaboration that was aimed at reducing the manpower content of mould toolmaking, and extending the working day. This paper focuses on one element which utilised specially created scheduling and control software that operated an automated overhead gantry system and could remotely start the workshop machines. The software was completely object oriented which allows future proofing by creating new objects for new machines. The results demonstrate that this manufacturing process can be automated, leading to better working conditions for employees and an increase in efficiency and profitability.Mechanical Engineerin

Performance analysis of parallel branch and bound search with the hypercube architecture

With the availability of commercial parallel computers, researchers are examining new classes of problems which might benefit from parallel computing. This paper presents results of an investigation of the class of search intensive problems. The specific problem discussed is the Least-Cost Branch and Bound search method of deadline job scheduling. The object-oriented design methodology was used to map the problem into a parallel solution. While the initial design was good for a prototype, the best performance resulted from fine-tuning the algorithm for a specific computer. The experiments analyze the computation time, the speed up over a VAX 11/785, and the load balance of the problem when using loosely coupled multiprocessor system based on the hypercube architecture

Human-Machine Collaborative Optimization via Apprenticeship Scheduling

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years of apprenticeship. A process for manually codifying this domain knowledge within a computational framework is necessary to scale beyond the ``single-expert, single-trainee" apprenticeship model. However, human domain experts often have difficulty describing their decision-making processes, causing the codification of this knowledge to become laborious. We propose a new approach for capturing domain-expert heuristics through a pairwise ranking formulation. Our approach is model-free and does not require enumerating or iterating through a large state space. We empirically demonstrate that this approach accurately learns multifaceted heuristics on a synthetic data set incorporating job-shop scheduling and vehicle routing problems, as well as on two real-world data sets consisting of demonstrations of experts solving a weapon-to-target assignment problem and a hospital resource allocation problem. We also demonstrate that policies learned from human scheduling demonstration via apprenticeship learning can substantially improve the efficiency of a branch-and-bound search for an optimal schedule. We employ this human-machine collaborative optimization technique on a variant of the weapon-to-target assignment problem. We demonstrate that this technique generates solutions substantially superior to those produced by human domain experts at a rate up to 9.5 times faster than an optimization approach and can be applied to optimally solve problems twice as complex as those solved by a human demonstrator.Comment: Portions of this paper were published in the Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper consists of 50 pages with 11 figures and 4 table

A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer

ReSHAPE: A Framework for Dynamic Resizing and Scheduling of Homogeneous Applications in a Parallel Environment

Applications in science and engineering often require huge computational resources for solving problems within a reasonable time frame. Parallel supercomputers provide the computational infrastructure for solving such problems. A traditional application scheduler running on a parallel cluster only supports static scheduling where the number of processors allocated to an application remains fixed throughout the lifetime of execution of the job. Due to the unpredictability in job arrival times and varying resource requirements, static scheduling can result in idle system resources thereby decreasing the overall system throughput. In this paper we present a prototype framework called ReSHAPE, which supports dynamic resizing of parallel MPI applications executed on distributed memory platforms. The framework includes a scheduler that supports resizing of applications, an API to enable applications to interact with the scheduler, and a library that makes resizing viable. Applications executed using the ReSHAPE scheduler framework can expand to take advantage of additional free processors or can shrink to accommodate a high priority application, without getting suspended. In our research, we have mainly focused on structured applications that have two-dimensional data arrays distributed across a two-dimensional processor grid. The resize library includes algorithms for processor selection and processor mapping. Experimental results show that the ReSHAPE framework can improve individual job turn-around time and overall system throughput.Comment: 15 pages, 10 figures, 5 tables Submitted to International Conference on Parallel Processing (ICPP'07