69,525 research outputs found
Toward Meta-level Control of Autonomous Agents
AbstractMetareasoning is an important capability for autonomous systems, particularly for those being deployed on long duration missions. An agent with increased self-observation and the ability to control itself in response to changing environments will be more capable in achieving its goals. This is essential for long-duration missions where system designers will not be able to, theoretically or practically, predict all possible problems that the agent may encounter. In this paper we describe preliminary work that integrates the metacognitive architecture MIDCA with an autonomous TREX agent, creating a more self-observable and adaptive agent
The Trans-Contextual Model of Autonomous Motivation in Education: Conceptual and Empirical Issues and Meta-Analysis.
The trans-contextual model outlines the processes by which autonomous motivation toward activities in a physical education context predicts autonomous motivation toward physical activity outside of school, and beliefs about, intentions toward, and actual engagement in, out-of-school physical activity. In the present article, we clarify the fundamental propositions of the model and resolve some outstanding conceptual issues, including its generalizability across multiple educational domains, criteria for its rejection or failed replication, the role of belief-based antecedents of intentions, and the causal ordering of its constructs. We also evaluate the consistency of model relationships in previous tests of the model using path-analytic meta-analysis. The analysis supported model hypotheses but identified substantial heterogeneity in the hypothesized relationships across studies unattributed to sampling and measurement error. Based on our meta-analysis, future research needs to provide further replications of the model in diverse educational settings beyond physical education and test model hypotheses using experimental methods
Cost Adaptation for Robust Decentralized Swarm Behaviour
Decentralized receding horizon control (D-RHC) provides a mechanism for
coordination in multi-agent settings without a centralized command center.
However, combining a set of different goals, costs, and constraints to form an
efficient optimization objective for D-RHC can be difficult. To allay this
problem, we use a meta-learning process -- cost adaptation -- which generates
the optimization objective for D-RHC to solve based on a set of human-generated
priors (cost and constraint functions) and an auxiliary heuristic. We use this
adaptive D-RHC method for control of mesh-networked swarm agents. This
formulation allows a wide range of tasks to be encoded and can account for
network delays, heterogeneous capabilities, and increasingly large swarms
through the adaptation mechanism. We leverage the Unity3D game engine to build
a simulator capable of introducing artificial networking failures and delays in
the swarm. Using the simulator we validate our method on an example coordinated
exploration task. We demonstrate that cost adaptation allows for more efficient
and safer task completion under varying environment conditions and increasingly
large swarm sizes. We release our simulator and code to the community for
future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS), 201
Multi-level agent-based modeling - A literature survey
During last decade, multi-level agent-based modeling has received significant
and dramatically increasing interest. In this article we present a
comprehensive and structured review of literature on the subject. We present
the main theoretical contributions and application domains of this concept,
with an emphasis on social, flow, biological and biomedical models.Comment: v2. Ref 102 added. v3-4 Many refs and text added v5-6 bibliographic
statistics updated. v7 Change of the name of the paper to reflect what it
became, many refs and text added, bibliographic statistics update
A Methodology to Engineer and Validate Dynamic Multi-level Multi-agent Based Simulations
This article proposes a methodology to model and simulate complex systems,
based on IRM4MLS, a generic agent-based meta-model able to deal with
multi-level systems. This methodology permits the engineering of dynamic
multi-level agent-based models, to represent complex systems over several
scales and domains of interest. Its goal is to simulate a phenomenon using
dynamically the lightest representation to save computer resources without loss
of information. This methodology is based on two mechanisms: (1) the activation
or deactivation of agents representing different domain parts of the same
phenomenon and (2) the aggregation or disaggregation of agents representing the
same phenomenon at different scales.Comment: Presented at 3th International Workshop on Multi-Agent Based
Simulation, Valencia, Spain, 5th June 201
Logic, self-awareness and self-improvement: The metacognitive loop and the problem of brittleness
This essay describes a general approach to building perturbation-tolerant autonomous systems, based on the conviction that artificial agents should be able notice when something is amiss, assess the anomaly, and guide a solution into place. We call this basic strategy of self-guided learning the metacognitive loop; it involves the system monitoring, reasoning about, and, when necessary, altering its own decision-making components. In this essay, we (a) argue that equipping agents with a metacognitive loop can help to overcome the brittleness problem, (b) detail the metacognitive loop and its relation to our ongoing work on time-sensitive commonsense reasoning, (c) describe specific, implemented systems whose perturbation tolerance was improved by adding a metacognitive loop, and (d) outline both short-term and long-term research agendas
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