Efficient Mission Planning for Robot Networks in Communication Constrained Environments

Many robotic systems are remotely operated nowadays that require uninterrupted connection and safe mission planning. Such systems are commonly found in military drones, search and rescue operations, mining robotics, agriculture, and environmental monitoring. Different robotic systems may employ disparate communication modalities such as radio network, visible light communication, satellite, infrared, Wi-Fi. However, in an autonomous mission where the robots are expected to be interconnected, communication constrained environment frequently arises due to the out of range problem or unavailability of the signal. Furthermore, several automated projects (building construction, assembly line) do not guarantee uninterrupted communication, and a safe project plan is required that optimizes collision risks, cost, and duration. In this thesis, we propose four pronged approaches to alleviate some of these issues: 1) Communication aware world mapping; 2) Communication preserving using the Line-of-Sight (LoS); 3) Communication aware safe planning; and 4) Multi-Objective motion planning for navigation. First, we focus on developing a communication aware world map that integrates traditional world models with the planning of multi-robot placement. Our proposed communication map selects the optimal placement of a chain of intermediate relay vehicles in order to maximize communication quality to a remote unit. We also vi propose an algorithm to build a min-Arborescence tree when there are multiple remote units to be served. Second, in communication denied environments, we use Line-of-Sight (LoS) to establish communication between mobile robots, control their movements and relay information to other autonomous units. We formulate and study the complexity of a multi-robot relay network positioning problem and propose approximation algorithms that restore visibility based connectivity through the relocation of one or more robots. Third, we develop a framework to quantify the safety score of a fully automated robotic mission where the coexistence of human and robot may pose a collision risk. A number of alternate mission plans are analyzed using motion planning algorithms to select the safest one. Finally, an efficient multi-objective optimization based path planning for the robots is developed to deal with several Pareto optimal cost attributes

Entrepreneurial competence in agriculture : characterization, identification, development and the role of the work environment

In the last few decades, primary agricultural production in the Netherlands has been significantly influenced by firm expansion, innovation and diversification. These developments suggest that, increasingly, farmers and growers require entrepreneurial competence to continuously recognize and pursue new business opportunities. Though entrepreneurial competence is seen as a potentially promising concept, current research efforts i) have paid little attention to firms already in existence (like in agriculture), ii) provide few methodological starting points for studying entrepreneurial competence on the individual level, iii) and have paid little attention to social and task-related influences on entrepreneurial competence development. The objective of this thesis is to analyse how entrepreneurial competence can be characterized and identified, how it develops and how it can be fostered in small agricultural firms. In order to do so, entrepreneurial competence was studied using a comprehensive approach to competence, which implies that a multi-method methodology was adopted. Quantitative and qualitative methods were used in four empirical studies which included a total of 500 participants. A first characterization was made by researching self-awareness and beliefs about improvability of general, but context-appropriate, descriptions of entrepreneurial competencies. The results show an almost consistent underestimation of entrepreneurial competencies and reveal that entrepreneurial competencies are seen as subject to at least some development. Conceptions of entrepreneurial competencies are not uniform within workplaces: elements of what is developed and can be developed further are partly idiosyncratic. Secondly, entrepreneurial competence was identified in more detail based on item-level descriptions which empirically define a competence domain. It was revealed that three domains constitute the heart of entrepreneurial competence, namely analysing, pursuing and networking. Thirdly, results obtained through comparing highand low-performing firms, focusing on the task itself and using concrete work activities as descriptors for competence, suggest that the relationship between entrepreneurial performance and competence is not only influenced by business goals but also by the owner-managers’ awareness. It is proposed that entrepreneurial performance is correlated with the development of competence associated with the beginning of the entrepreneurial process. Furthermore, the results suggest interdependence between existing competence and competence development within competence domains (horizontal development), and between competence domains (vertical development). Finally, four factors in the small-business work environment were identified as being crucial in the entrepreneurial learning process. In order of importance, these were: support and guidance, external interaction, internal communication and task characteristics, though differences in type of business opportunities represent slightly different dynamics. The results suggest a two-layered interaction between learner and work environment. Entrepreneurial learning of the owner-manager is influenced by the work environment, which is in turn shaped/defined by the owner-manager. The results of this thesis provide professionals active in sector development and (vocational) education with clear steppingstones for developing competence-based curricula and learning-oriented assessments, as well as general ideas for developing learning environments that better reflect small-business dynamics. <br/

Computational Theory of Mind for Human-Agent Coordination

In everyday life, people often depend on their theory of mind, i.e., their ability to reason about unobservable mental content of others to understand, explain, and predict their behaviour. Many agent-based models have been designed to develop computational theory of mind and analyze its effectiveness in various tasks and settings. However, most existing models are not generic (e.g., only applied in a given setting), not feasible (e.g., require too much information to be processed), or not human-inspired (e.g., do not capture the behavioral heuristics of humans). This hinders their applicability in many settings. Accordingly, we propose a new computational theory of mind, which captures the human decision heuristics of reasoning by abstracting individual beliefs about others. We specifically study computational affinity and show how it can be used in tandem with theory of mind reasoning when designing agent models for human-agent negotiation. We perform two-agent simulations to analyze the role of affinity in getting to agreements when there is a bound on the time to be spent for negotiating. Our results suggest that modeling affinity can ease the negotiation process by decreasing the number of rounds needed for an agreement as well as yield a higher benefit for agents with theory of mind reasoning.</p

Continual improvement: A bibliography with indexes, 1992-1993

This bibliography lists 606 references to reports and journal articles entered into the NASA Scientific and Technical Information Database during 1992 to 1993. Topics cover the philosophy and history of Continual Improvement (CI), basic approaches and strategies for implementation, and lessons learned from public and private sector models. Entries are arranged according to the following categories: Leadership for Quality, Information and Analysis, Strategic Planning for CI, Human Resources Utilization, Management of Process Quality, Supplier Quality, Assessing Results, Customer Focus and Satisfaction, TQM Tools and Philosophies, and Applications. Indexes include subject, personal author, corporate source, contract number, report number, and accession number

How the R&S process in Webhelp’s Contact Centre impacts CSAs’ turnover intention: A business process outsourcing case study

The Contact Center Industry encompasses a high rate of turnover among contact center agents. By investigating the turnover phenomenon, this study aims to identify the practices and procedures of the Recruitment and Selection Process, as well as its quality. Together, it seeks to demystify how the process is conducted, by recruiters, under constant time pressures to clients, who are committed to outsource their services. By approaching recruiters, responsible for delivering/hiring potential profiles, it is necessary to also comprehend the relationship of recruitment coordinators, who assume functions as team leaders, on team’s proper function. Our study proved what was initially desired, therefore the quality of the recruitment and selection process has indeed, impact in the turnover intention of customer service agents.A Indústria de Centros de Contacto engloba uma elevada taxa de saída entre os agentes dos centros de contacto. Ao investigar o fenómeno da rotatividade, este estudo procura identificar as práticas e procedimentos do Processo de Recrutamento e Seleção, bem como a sua qualidade. Conjuntamente, procura desmistificar como o processo é conduzido, pelos recrutadores, sob constantes pressões de tempo para com os clientes, que apostam em externalizar os seus serviços. Ao abordar os recrutadores, responsáveis pela entrega/ contratação de potenciais perfis, é igualmente necessário compreender a relação dos coordenadores de recrutamento, na adequada função da equipa. O nosso estudo provou o que era inicialmente desejado, pelo que a qualidade do processo de recrutamento e seleção tem de facto impacto na intenção de saída dos agentes de serviço ao cliente