728 research outputs found

    Coverage & cooperation: Completing complex tasks as quickly as possible using teams of robots

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    As the robotics industry grows and robots enter our homes and public spaces, they are increasingly expected to work in cooperation with each other. My thesis focuses on multirobot planning, specifically in the context of coverage robots, such as robotic lawnmowers and vacuum cleaners. Two problems unique to multirobot teams are task allocation and search. I present a task allocation algorithm which balances the workload amongst all robots in the team with the objective of minimizing the overall mission time. I also present a search algorithm which robots can use to find lost teammates. It uses a probabilistic belief of a target robot’s position to create a planning tree and then searches by following the best path in the tree. For robust multirobot coverage, I use both the task allocation and search algorithms. First the coverage region is divided into a set of small coverage tasks which minimize the number of turns the robots will need to take. These tasks are then allocated to individual robots. During the mission, robots replan with nearby robots to rebalance the workload and, once a robot has finished its tasks, it searches for teammates to help them finish their tasks faster

    Bayesian Search Under Dynamic Disaster Scenarios

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    Search and Rescue (SAR) is a hard decision making context where there is available a limited amount of resources that should be strategically allocated over the search region in order to find missing people opportunely. In this thesis, we consider those SAR scenarios where the search region is being affected by some type of dynamic threat such as a wilder or a hurricane. In spite of the large amount of SAR missions that consistently take place under these circumstances, and being Search Theory a research area dating back from more than a half century, to the best of our knowledge, this kind of search problem has not being considered in any previous research. Here we propose a bi-objective mathematical optimization model and three solution methods for the problem: (1) Epsilon-constraint; (2) Lexicographic; and (3) Ant Colony based heuristic. One of the objectives of our model pursues the allocation of resources in riskiest zones. This objective attempts to find victims located at the closest regions to the threat, presenting a high risk of being reached by the disaster. In contrast, the second objective is oriented to allocate resources in regions where it is more likely to find the victim. Furthermore, we implemented a receding horizon approach oriented to provide our planning methodology with the ability to adapt to disaster's behavior based on updated information gathered during the mission. All our products were validated through computational experiments.MaestríaMagister en Ingeniería Industria

    Bounding an Optimal Search Path with a Game of Cop and Robber on Graphs

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    Abstract. In search theory, the goal of the Optimal Search Path (OSP) problem is to find a finite length path maximizing the probability that a searcher detects a lost wanderer on a graph. We propose to bound the probability of finding the wanderer in the remaining search time by relaxing the problem into a stochastic game of cop and robber from graph theory. We discuss the validity of this bound and demonstrate its effectiveness on a constraint programming model of the problem. Ex-perimental results show how our novel bound compares favorably to the DMEAN bound from the literature, a state-of-the-art bound based on a relaxation of the OSP into a longest path problem

    Fairness in Rankings

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    Künstliche Intelligenz und selbst-lernende Systeme, die ihr Verhalten aufgrund vergangener Entscheidungen und historischer Daten adaptieren, spielen eine im- mer größer werdende Rollen in unserem Alltag. Wir sind umgeben von einer großen Zahl algorithmischer Entscheidungshilfen, sowie einer stetig wachsenden Zahl algorithmischer Entscheidungssysteme. Rankings und sortierte Listen von Suchergebnissen stellen dabei das wesentliche Instrument unserer Onlinesuche nach Inhalten, Produkten, Freizeitaktivitäten und relevanten Personen dar. Aus diesem Grund bestimmt die Reihenfolge der Suchergebnisse nicht nur die Zufriedenheit der Suchenden, sondern auch die Chancen der Sortierten auf Bildung, ökonomischen und sogar sozialen Erfolg. Wissenschaft und Politik sorgen sich aus diesem Grund mehr und mehr um systematische Diskriminierung und Bias durch selbst-lernende Systeme. Um der Diskriminierung im Kontext von Rankings und sortierten Suchergeb- nissen Herr zu werden, sind folgende drei Probleme zu addressieren: Zunächst müssen wir die ethischen Eigenschaften und moralischen Ziele verschiedener Sit- uationen erarbeiten, in denen Rankings eingesetzt werden. Diese sollen mit den ethischen Werten der Algorithmen übereinstimmen, die zur Vermeidung von diskri- minierenden Rankings Anwendung finden. Zweitens ist es notwendig, ethische Wertesysteme in Mathematik und Algorithmen zu übersetzen, um sämtliche moralis- chen Ziele bedienen zu können. Drittens sollten diese Methoden einem breiten Publikum zugänglich sein, das sowohl Programmierer:innen, als auch Jurist:innen und Politiker:innen umfasst.Artificial intelligence and adaptive systems, that learn patterns from past behavior and historic data, play an increasing role in our day-to-day lives. We are surrounded by a vast amount of algorithmic decision aids, and more and more by algorithmic decision making systems, too. As a subcategory, ranked search results have become the main mechanism, by which we find content, products, places, and people online. Thus their ordering contributes not only to the satisfaction of the searcher, but also to career and business opportunities, educational placement, and even social success of those being ranked. Therefore researchers have become increasingly concerned with systematic biases and discrimination in data-driven ranking models. To address the problem of discrimination and fairness in the context of rank- ings, three main problems have to be solved: First, we have to understand the philosophical properties of different ranking situations and all important fairness definitions to be able to decide which method would be the most appropriate for a given context. Second, we have to make sure that, for any fairness requirement in a ranking context, a formal definition that meets such requirements exists. More concretely, if a ranking context, for example, requires group fairness to be met, we need an actual definition for group fairness in rankings in the first place. Third, the methods together with their underlying fairness concepts and properties need to be available to a wide range of audiences, from programmers, to policy makers and politicians

    Traveling Salesman Problem

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    This book is a collection of current research in the application of evolutionary algorithms and other optimal algorithms to solving the TSP problem. It brings together researchers with applications in Artificial Immune Systems, Genetic Algorithms, Neural Networks and Differential Evolution Algorithm. Hybrid systems, like Fuzzy Maps, Chaotic Maps and Parallelized TSP are also presented. Most importantly, this book presents both theoretical as well as practical applications of TSP, which will be a vital tool for researchers and graduate entry students in the field of applied Mathematics, Computing Science and Engineering
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