Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

An Improved Image Segmentation System: A Cooperative Multi-agent Strategy for 2D/3D Medical Images

In this paper, we present a solution-based cooperation approach for strengthening the image segmentation.This paper proposes a cooperative method relying on Multi-Agent System. The main contribution of this work is to highlight the importance of cooperation between the contour and region growing based on Multi-Agent System (MAS). Consequently, agents’ interactions form the main part of the whole process for image segmentation. Similar works were proposed to evaluate the effectiveness of the proposed solution. The main difference is that our Multi-Agent System can perform the segmentation process ensuring efficiency. Our results show that the performance indices in the system were higher. Furthermore, the integration of thecooperation paradigm allows to speed up the segmentation process. Besides, the tests reveal the robustness of our method by proving competitive results. Our proposal achieved an accuracy of 93,51%± 0,8, a sensitivity of 93,53%± 5,08 and a specificity rate of 92,64%± 4,01

Compressed Sensing based Dynamic PSD Map Construction in Cognitive Radio Networks

In the context of spectrum sensing in cognitive radio networks, collaborative spectrum sensing has been proposed as a way to overcome multipath and shadowing, and hence increasing the reliability of the sensing. Due to the high amount of information to be transmitted, a dynamic compressive sensing approach is proposed to map the PSD estimate to a sparse domain which is then transmitted to the fusion center. In this regard, CRs send a compressed version of their estimated PSD to the fusion center, whose job is to reconstruct the PSD estimates of the CRs, fuse them, and make a global decision on the availability of the spectrum in space and frequency domains at a given time. The proposed compressive sensing based method considers the dynamic nature of the PSD map, and uses this dynamicity in order to decrease the amount of data needed to be transmitted between CR sensors’ and the fusion center. By using the proposed method, an acceptable PSD map for cognitive radio purposes can be achieved by only 20 % of full data transmission between sensors and master node. Also, simulation results show the robustness of the proposed method against the channel variations, diverse compression ratios and processing times in comparison with static methods

Multimedia Social Networks: Game Theoretic Modeling and Equilibrium Analysis

Multimedia content sharing and distribution over multimedia social networks is more popular now than ever before: we download music from Napster, share our images on Flickr, view user-created video on YouTube, and watch peer-to-peer television using Coolstreaming, PPLive and PPStream. Within these multimedia social networks, users share, exchange, and compete for scarce resources such as multimedia data and bandwidth, and thus influence each other's decision and performance. Therefore, to provide fundamental guidelines for the better system design, it is important to analyze the users' behaviors and interactions in a multimedia social network, i.e., how users interact with and respond to each other. Game theory is a mathematical tool that analyzes the strategic interactions among multiple decision makers. It is ideal and essential for studying, analyzing, and modeling the users' behaviors and interactions in social networking. In this thesis, game theory will be used to model users' behaviors in social networks and analyze the corresponding equilibria. Specifically, in this thesis, we first illustrate how to use game theory to analyze and model users' behaviors in multimedia social networks by discussing the following three different scenarios. In the first scenario, we consider a non-cooperative multimedia social network where users in the social network compete for the same resource. We use multiuser rate allocation social network as an example for this scenario. In the second scenario, we consider a cooperative multimedia social network where users in the social network cooperate with each other to obtain the content. We use cooperative peer-to-peer streaming social network as an example for this scenario. In the third scenario, we consider how to use the indirect reciprocity game to stimulate cooperation among users. We use the packet forwarding social network as an example. Moreover, the concept of ``multimedia social networks" can be applied into the field of signal and image processing. If each pixel/sample is treated as a user, then the whole image/signal can be regarded as a multimedia social network. From such a perspective, we introduce a new paradigm for signal and image processing, and develop generalized and unified frameworks for classical signal and image problems. In this thesis, we use image denoising and image interpolation as examples to illustrate how to use game theory to re-formulate the classical signal and image processing problems