486 research outputs found

    Safe, Remote-Access Swarm Robotics Research on the Robotarium

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    This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

    An overview of agent-based traffic simulators

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    Individual traffic significantly contributes to climate change and environmental degradation. Therefore, innovation in sustainable mobility is gaining importance as it helps to reduce environmental pollution. However, effects of new ideas in mobility are difficult to estimate in advance and strongly depend on the individual traffic participants. The application of agent technology is particularly promising as it focuses on modelling heterogeneous individual preferences and behaviours. In this paper, we show how agent-based models are particularly suitable to address three pressing research topics in mobility: 1. Social dilemmas in resource utilisation; 2. Digital connectivity; and 3. New forms of mobility. We then explain how the features of several agent-based simulators are suitable for addressing these topics. We assess the capability of simulators to model individual travel behaviour, discussing implemented features and identifying gaps in functionality that we consider important

    Reducing Communication Delay Variability for a Group of Robots

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    A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without regard for the state of the transmission medium, it allows deterministic communications, and it enables ordered communications that can be a applied in a team of robots. Simulations and experimental results are also included

    Multi-Agent Systems

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    This Special Issue ""Multi-Agent Systems"" gathers original research articles reporting results on the steadily growing area of agent-oriented computing and multi-agent systems technologies. After more than 20 years of academic research on multi-agent systems (MASs), in fact, agent-oriented models and technologies have been promoted as the most suitable candidates for the design and development of distributed and intelligent applications in complex and dynamic environments. With respect to both their quality and range, the papers in this Special Issue already represent a meaningful sample of the most recent advancements in the field of agent-oriented models and technologies. In particular, the 17 contributions cover agent-based modeling and simulation, situated multi-agent systems, socio-technical multi-agent systems, and semantic technologies applied to multi-agent systems. In fact, it is surprising to witness how such a limited portion of MAS research already highlights the most relevant usage of agent-based models and technologies, as well as their most appreciated characteristics. We are thus confident that the readers of Applied Sciences will be able to appreciate the growing role that MASs will play in the design and development of the next generation of complex intelligent systems. This Special Issue has been converted into a yearly series, for which a new call for papers is already available at the Applied Sciences journal’s website: https://www.mdpi.com/journal/applsci/special_issues/Multi-Agent_Systems_2019

    Design And Implementation Of Co-Operative Control Strategy For Hybrid AC/DC Microgrids

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    This thesis is mainly divided in two major sections: 1) Modelling and control of AC microgrid, DC microgrid, Hybrid AC/DC microgrid using distributed co-operative control, and 2) Development of a four bus laboratory prototype of an AC microgrid system. At first, a distributed cooperative control (DCC) for a DC microgrid considering the state-of-charge (SoC) of the batteries in a typical plug-in-electric-vehicle (PEV) is developed. In DC microgrids, this methodology is developed to assist the load sharing amongst the distributed generation units (DGs), according to their ratings with improved voltage regulation. Subsequently, a DCC based control algorithm for AC microgrid is also investigated to improve the performance of AC microgrid in terms of power sharing among the DGs, voltage regulation and frequency deviation. The results validate the advantages of the proposed methodology as compared to traditional droop control of AC microgrid. The DCC-based control methodology for AC microgrid and DC microgrid are further expanded to develop a DCC-based power management algorithm for hybrid AC/DC microgrid. The developed algorithm for hybrid microgrid controls the power flow through the interfacing converter (IC) between the AC and DC microgrids. This will facilitate the power sharing between the DGs according to their power ratings. Moreover, it enables the fixed scheduled power delivery at different operating conditions, while maintaining good voltage regulation and improved frequency profile. The second section provides a detailed explanation and step-by-step design and development of an AC/DC microgrid testbed. Controllers for the three-phase inverters are designed and tested on different generation units along with their corresponding inductor-capacitor-inductor (LCL) filters to eliminate the switching frequency harmonics. Electric power distribution line models are developed to form the microgrid network topology. Voltage and current sensors are placed in the proper positions to achieve a full visibility over the microgrid. A running average filter (RAF) based enhanced phase-locked-loop (EPLL) is designed and implemented to extract frequency and phase angle information. A PLL-based synchronizing scheme is also developed to synchronize the DGs to the microgrid. The developed laboratory prototype runs on dSpace platform for real time data acquisition, communication and controller implementation

    Design and Architecture of an Ontology-driven Dialogue System for HPV Vaccine Counseling

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    Speech and conversational technologies are increasingly being used by consumers, with the inevitability that one day they will be integrated in health care. Where this technology could be of service is in patient-provider communication, specifically for communicating the risks and benefits of vaccines. Human papillomavirus (HPV) vaccine, in particular, is a vaccine that inoculates individuals from certain HPV viruses responsible for adulthood cancers - cervical, head and neck cancers, etc. My research focuses on the architecture and development of speech-enabled conversational agent that relies on series of consumer-centric health ontologies and the technology that utilizes these ontologies. Ontologies are computable artifacts that encode and structure domain knowledge that can be utilized by machines to provide high level capabilities, such as reasoning and sharing information. I will focus the agent’s impact on the HPV vaccine domain to observe if users would respond favorably towards conversational agents and the possible impact of the agent on their beliefs of the HPV vaccine. The approach of this study involves a multi-tier structure. The first tier is the domain knowledge base, the second is the application interaction design tier, and the third is the feasibility assessment of the participants. The research in this study proposes the following questions: Can ontologies support the system architecture for a spoken conversational agent for HPV vaccine counseling? How would prospective users’ perception towards an agent and towards the HPV vaccine be impacted after using conversational agent for HPV vaccine education? The outcome of this study is a comprehensive assessment of a system architecture of a conversational agent for patient-centric HPV vaccine counseling. Each layer of the agent architecture is regulated through domain and application ontologies, and supported by the various ontology-driven software components that I developed to compose the agent architecture. Also discussed in this work, I present preliminary evidence of high usability of the agent and improvement of the users’ health beliefs toward the HPV vaccine. All in all, I introduce a comprehensive and feasible model for the design and development of an open-sourced, ontology-driven conversational agent for any health consumer domain, and corroborate the viability of a conversational agent as a health intervention tool

    Multi-Agent Systems

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    A multi-agent system (MAS) is a system composed of multiple interacting intelligent agents. Multi-agent systems can be used to solve problems which are difficult or impossible for an individual agent or monolithic system to solve. Agent systems are open and extensible systems that allow for the deployment of autonomous and proactive software components. Multi-agent systems have been brought up and used in several application domains

    Air Force Institute of Technology Research Report 2001

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    This report summarizes the research activities of the Air Force Institute of Technology’s Graduate School of Engineering and Management. It describes research interests and faculty expertise; lists student theses/dissertations; identifies research sponsors and contributions; and outlines the procedures for contacting the school. Included in the report are: faculty publications, conference presentations, consultations, and funded research projects. Research was conducted in the areas of Aeronautical and Astronautical Engineering, Electrical Engineering and Electro-Optics, Computer Engineering and Computer Science, Systems and Engineering Management, Operational Sciences, and Engineering Physics
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