Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Drive-Based Utility-Maximizing Computer Game Non-Player Characters

This research examines the emergence of the five-string fiddle in contemporary North American fiddle culture within the past ten years. By interacting with leading artistlevel practitioners, the research documents the evolution and impact of the instrument to date in exploring the possibilities the five-string fiddle presents for musical performance and innovation. North American vernacular music and, in particular, the contemporary fiddle playing landscape, exemplifies virtousic and innovative idiomatic technique and improvisation as central to an overarching musical explosion, evidenced in the music of many high level, multi-stylistic contemporary practitioners. Within contemporary American fiddle performance, it is compelling to observe how many of the most innovative and highly regarded players now perform on five-string fiddles. The research uses a qualitative research methodology, drawing on interviews conducted with seven leading American fiddle players, each of whom has adopted the five-string fiddle in their own musical practice. The participants represent a rich cross section of American fiddle culture. They emerged naturally during the course of the literature review, and in-depth listening research, as particularly relevant sample cases. All participants were identified as leading exponents of the diversities encompassed in American fiddle music, between them sharing extensive professional recording, performance and academic experience, and all playing on five-string instruments. The research is further illuminated through practice, reflecting on my own musical work in illustrating how I have personally adopted the five-string fiddle, drawing influence from the research in demonstrating some wider possibilities of the instrument. This enquiry is important as it addresses the lack of specific research to date regarding the five-string fiddle, despite the significanance it holds for some of American fiddle music\u27s leading exponents, and consequently, for fiddle music itself. Equally significant, is the role of the instrument in facilitating the performance of innovative extended instrumental techniques, in particular, the five-string fiddles association with the rhythmic/percussive \u27chop\u27 bow techniques, now, so conspicuous within contemporary groove-based American string music. ix The findings of this research established the definitive emergence of the five-string fiddle, and subscribe that the five-string has now become a widely accepted part of the mainstream instrumentation in American music. This understanding emerges clearly through the words and practice of the participants. From this perspective, the research identifies the musical reasons that inspire the instruments popularity and elaborates through practice, the musical possibilities it presents to others. behaviour selection systems that have been used successfully in industry. The evaluations show that UDGOAP can outperform these systems in both environments. Another novel contribution of this thesis is smart ambiance. Smart ambiance is an area of space in a virtual world that holds information about the context of that space and uses this information to have non-player characters inside the space select more contextually appropriate actions. Information about the context comes from events that took place inside the smart ambiance, objects inside the smart ambiance, and the location of the smart ambiance. Smart ambiance can be used with any cost based planner. This thesis demonstrates dierent aspects of smart ambiance by causing an industry standard action planner to select more contextually appropriate behaviours than it otherwise would have without the smart ambiance

Dynamic networks for robotic control and behaviour selection in interactive environments

Traditional robotics have the capabilities of the robot hard coded and have the robot function in structured environments (structured environments are those that are predefined for a given task). This approach can limit the functionality of a robot and how they can interact in an environment. Behaviour networks are reactive systems that are able to function in unstructured dynamic environments by selecting behaviours to execute based on the current state of the environment. Behaviour networks are made up of nodes that represent behaviours and these store an activation value to represent the motivation for that behaviour. The nodes receive inputs from a variety of sources and pass proportions of that input to other nodes in the network.Behaviour networks traditionally also have their capabilities predefined. The main aim of this thesis is to expand upon the concepts of traditional robotics by demonstrating the use of distributed behaviours in an environment. This thesis aims to show that distributing object specific data, such as; behaviours and goals, will assist in the task planning for a mobile robot.This thesis explores and tests the traditional behaviour network with a variety of experiments. Each experiment showcases particular features of the behaviour network including flaws that have been identified. Proposed solutions to the found flaws are then presented and explored. The behaviour network is then tested in a simulated environment with distributed behaviours and the dynamic behaviour network is defined. The thesis demonstrates that distributed behaviours can expand the capabilities of a mobile robot using a dynamic behaviour network

An investigation of the mirroring of supply chain configuration modularity, and product modularity in contemporary supply chains

The introduction of new to market products is a challenge, in high technology markets, where speed and product variation are key considerations. High technology companies require the ability to simultaneously combine operational excellence, customer intimacy and product leadership. A lack of coordination between new product development (NPD), product planning and supply chain configuration (SCC) is a recognised cause of many early-life product failures. This research has one objective: to increase our understanding of the role of modularity in linking SCC and NPD decisions. The research incorporates general systems theory (GST) and knowledge-based theory (KBT), in mirroring product modularity (PM) and SCC modularity (SCCM) within contemporary supply networks. A systematic literature review (SLR) advocates the use of modular design, in linking these concepts and boosting the rate of innovation. The literature indicates that product architecture (PA) and SCC tend to be mirrored in modularity levels, post product launch, and this mirroring is desirable. The literature identified a gap in how SCCM is conceptualised, and how this mirroring manifests itself. These gaps are addressed in the empirical research conducted in project two, where the SCCM construct was developed and used to assess the manifestation and benefits of PM and SCCM mirroring across ten products (UoA) in five case companies across four industry sectors. Mirroring is evident, in six of the UoA, the remaining four UoA exhibit a medium level of mirroring, post product launch. The contribution to theory is a conceptualisation of SCCM where supply chain tiering is a main indicator. Propensity for modules to decouple; early supplier involvement, and a mirrored product and SCC life cycle perspective are the three causal linkages which enable mirroring of PM and SCCM post product launch. The SLR identified the use of co-development (CD), feedback (FC) and feedforward anticipatory control (FAC) at concept design to increase the mirroring of PM and SCCM, post product launch. In project three hypotheses were tested which advocate the use of these mechanisms, and the associated underlying mechanisms were investigated. The findings indicate use of CD and FAC, but a lack of FC, and mirroring support for platform design. The contribution to practice is an intervention framework applied at the concept stage that improves the coordination between NPD, SCC and product planning for new to market products

State-of-the-Art Sensors Technology in Spain 2015: Volume 1

This book provides a comprehensive overview of state-of-the-art sensors technology in specific leading areas. Industrial researchers, engineers and professionals can find information on the most advanced technologies and developments, together with data processing. Further research covers specific devices and technologies that capture and distribute data to be processed by applying dedicated techniques or procedures, which is where sensors play the most important role. The book provides insights and solutions for different problems covering a broad spectrum of possibilities, thanks to a set of applications and solutions based on sensory technologies. Topics include: • Signal analysis for spectral power • 3D precise measurements • Electromagnetic propagation • Drugs detection • e-health environments based on social sensor networks • Robots in wireless environments, navigation, teleoperation, object grasping, demining • Wireless sensor networks • Industrial IoT • Insights in smart cities • Voice recognition • FPGA interfaces • Flight mill device for measurements on insects • Optical systems: UV, LEDs, lasers, fiber optics • Machine vision • Power dissipation • Liquid level in fuel tanks • Parabolic solar tracker • Force sensors • Control for a twin roto

Behavior Trees in Robotics and AI: An Introduction

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular and reactive. These properties are crucial in many applications, which has led to the spread of BT from computer game programming to many branches of AI and Robotics. In this book, we will first give an introduction to BTs, then we describe how BTs relate to, and in many cases generalize, earlier switching structures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. Properties such as safety, robustness, and efficiency are important for an autonomous system, and we describe a set of tools for formally analyzing these using a state space description of BTs. With the new analysis tools, we can formalize the descriptions of how BTs generalize earlier approaches. We also show the use of BTs in automated planning and machine learning. Finally, we describe an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion