Molecular Model of Dynamic Social Network Based on E-mail communication

In this work we consider an application of physically inspired sociodynamical model to the modelling of the evolution of email-based social network. Contrary to the standard approach of sociodynamics, which assumes expressing of system dynamics with heuristically defined simple rules, we postulate the inference of these rules from the real data and their application within a dynamic molecular model. We present how to embed the n-dimensional social space in Euclidean one. Then, inspired by the Lennard-Jones potential, we define a data-driven social potential function and apply the resultant force to a real e-mail communication network in a course of a molecular simulation, with network nodes taking on the role of interacting particles. We discuss all steps of the modelling process, from data preparation, through embedding and the molecular simulation itself, to transformation from the embedding space back to a graph structure. The conclusions, drawn from examining the resultant networks in stable, minimum-energy states, emphasize the role of the embedding process projecting the non–metric social graph into the Euclidean space, the significance of the unavoidable loss of information connected with this procedure and the resultant preservation of global rather than local properties of the initial network. We also argue applicability of our method to some classes of problems, while also signalling the areas which require further research in order to expand this applicability domain

AN EFFICIENT SEGMENTATION ALGORITHM FOR ENTITY INTERACTION

The inventorying of biological diversity and studies in biocomplexity require the management of large electronic datasets of organisms. While species inventory has adopted structured electronic databases for some time, the computer modelling of the functional interactions between biological entities at all levels of life is still in the stage of development. One of the challenges for this type of modelling is the biotic interactions that occur between large datasets of entities represented as computer algorithms. In real-time simulation that models the biotic interactions of large population datasets, the use of computational processing time could be extensive. One way of increasing the efficiency of such simulation is to partition the landscape so that entities need only traverse its local space for entities that falls within the interaction proximity. This article presents an efficient segmentation algorithm for biotic interactions for research related to the modelling and simulation of biological systems

Parametric POMDPs for planning in continuous state spaces

This thesis is concerned with planning and acting under uncertainty in partially-observable continuous domains. In particular, it focusses on the problem of mobile robot navigation given a known map. The dominant paradigm for robot localisation is to use Bayesian estimation to maintain a probability distribution over possible robot poses. In contrast, control algorithms often base their decisions on the assumption that a single state, such as the mode of this distribution, is correct. In scenarios involving significant uncertainty, this can lead to serious control errors. It is generally agreed that the reliability of navigation in uncertain environments would be greatly improved by the ability to consider the entire distribution when acting, rather than the single most likely state. The framework adopted in this thesis for modelling navigation problems mathematically is the Partially Observable Markov Decision Process (POMDP). An exact solution to a POMDP problem provides the optimal balance between reward-seeking behaviour and information-seeking behaviour, in the presence of sensor and actuation noise. Unfortunately, previous exact and approximate solution methods have had difficulty scaling to real applications. The contribution of this thesis is the formulation of an approach to planning in the space of continuous parameterised approximations to probability distributions. Theoretical and practical results are presented which show that, when compared with similar methods from the literature, this approach is capable of scaling to larger and more realistic problems. In order to apply the solution algorithm to real-world problems, a number of novel improvements are proposed. Specifically, Monte Carlo methods are employed to estimate distributions over future parameterised beliefs, improving planning accuracy without a loss of efficiency. Conditional independence assumptions are exploited to simplify the problem, reducing computational requirements. Scalability is further increased by focussing computation on likely beliefs, using metric indexing structures for efficient function approximation. Local online planning is incorporated to assist global offline planning, allowing the precision of the latter to be decreased without adversely affecting solution quality. Finally, the algorithm is implemented and demonstrated during real-time control of a mobile robot in a challenging navigation task. We argue that this task is substantially more challenging and realistic than previous problems to which POMDP solution methods have been applied. Results show that POMDP planning, which considers the evolution of the entire probability distribution over robot poses, produces significantly more robust behaviour when compared with a heuristic planner which considers only the most likely states and outcomes

Effective Approximations for Multi-Robot Coordination in Spatially Distributed Tasks

Although multi-robot systems have received substantial research attention in recent years, multi-robot coordination still remains a difficult task. Especially, when dealing with spatially distributed tasks and many robots, central control quickly becomes infeasible due to the exponential explosion in the number of joint actions and states. We propose a general algorithm that allows for distributed control, that overcomes the exponential growth in the number of joint actions by aggregating the effect of other agents in the system into a probabilistic model, called subjective approximations, and then choosing the best response. We show for a multi-robot grid-world how the algorithm can be implemented in the well studied Multiagent Markov Decision Process framework, as a sub-class called spatial task allocation problems (SPATAPs). In this framework, we show how to tackle SPATAPs using online, distributed planning by combining subjective agent approximations with restriction of attention to current tasks in the world. An empirical evaluation shows that the combination of both strategies allows to scale to very large problems, while providing near-optimal solutions

Effective Approximations for Spatial Task Allocation Problems

Although multi-robot systems have received substantial research attention in recent years, multi-robot coordination still remains a difficult task. Especially, when dealing with spatially distributed tasks and many robots, central control quickly becomes infeasible due to the exponential explosion in the number of joint actions and states. We propose a general algorithm that allows for distributed control, that overcomes the exponential growth in the number of joint actions by aggregating the effect of other agents in the system into a probabilistic model, called subjective approximations, and then choosing the best response. We show for a multi-robot grid-world how the algorithm can be implemented in the well studied Multiagent Markov Decision Process framework, as a sub-class called spatial task allocation problems (SPATAPs). In this framework, we show how to tackle SPATAPs using online, distributed planning by combining subjective agent approximations with restriction of attention to current tasks in the world. An empirical evaluation shows that the combination of both strategies allows to scale to very large problems, while providing near-optimal solutions