Human-Machine Collaborative Optimization via Apprenticeship Scheduling

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years of apprenticeship. A process for manually codifying this domain knowledge within a computational framework is necessary to scale beyond the ``single-expert, single-trainee" apprenticeship model. However, human domain experts often have difficulty describing their decision-making processes, causing the codification of this knowledge to become laborious. We propose a new approach for capturing domain-expert heuristics through a pairwise ranking formulation. Our approach is model-free and does not require enumerating or iterating through a large state space. We empirically demonstrate that this approach accurately learns multifaceted heuristics on a synthetic data set incorporating job-shop scheduling and vehicle routing problems, as well as on two real-world data sets consisting of demonstrations of experts solving a weapon-to-target assignment problem and a hospital resource allocation problem. We also demonstrate that policies learned from human scheduling demonstration via apprenticeship learning can substantially improve the efficiency of a branch-and-bound search for an optimal schedule. We employ this human-machine collaborative optimization technique on a variant of the weapon-to-target assignment problem. We demonstrate that this technique generates solutions substantially superior to those produced by human domain experts at a rate up to 9.5 times faster than an optimization approach and can be applied to optimally solve problems twice as complex as those solved by a human demonstrator.Comment: Portions of this paper were published in the Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper consists of 50 pages with 11 figures and 4 table

Custom Integrated Circuits

Contains reports on twelve research projects.Analog Devices, Inc.International Business Machines, Inc.Joint Services Electronics Program (Contract DAAL03-86-K-0002)Joint Services Electronics Program (Contract DAAL03-89-C-0001)U.S. Air Force - Office of Scientific Research (Grant AFOSR 86-0164)Rockwell International CorporationOKI Semiconductor, Inc.U.S. Navy - Office of Naval Research (Contract N00014-81-K-0742)Charles Stark Draper LaboratoryNational Science Foundation (Grant MIP 84-07285)National Science Foundation (Grant MIP 87-14969)Battelle LaboratoriesNational Science Foundation (Grant MIP 88-14612)DuPont CorporationDefense Advanced Research Projects Agency/U.S. Navy - Office of Naval Research (Contract N00014-87-K-0825)American Telephone and TelegraphDigital Equipment CorporationNational Science Foundation (Grant MIP-88-58764

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Multi-Objective Constraint Satisfaction for Mobile Robot Area Defense

In developing multi-robot cooperative systems, there are often competing objectives that need to be met. For example in automating area defense systems, multiple robots must work together to explore the entire area, and maintain consistent communications to alert the other agents and ensure trust in the system. This research presents an algorithm that tasks robots to meet the two specific goals of exploration and communication maintenance in an uncoordinated environment reducing the need for a user to pre-balance the objectives. This multi-objective problem is defined as a constraint satisfaction problem solved using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Both goals of exploration and communication maintenance are described as fitness functions in the algorithm that would satisfy their corresponding constraints. The exploration fitness was described in three ways to diversify the way exploration was measured, whereas the communication maintenance fitness was calculated as the number of independent clusters of agents. Applying the algorithm to the area defense problem, results show exploration and communication without coordination are two diametrically opposed goals, in which one may be favored, but only at the expense of the other. This work also presents suggestions for anyone looking to take further steps in developing a physically grounded solution to this area defense problem

Applications of agent architectures to decision support in distributed simulation and training systems

This work develops the approach and presents the results of a new model for applying intelligent agents to complex distributed interactive simulation for command and control. In the framework of tactical command, control communications, computers and intelligence (C4I), software agents provide a novel approach for efficient decision support and distributed interactive mission training. An agent-based architecture for decision support is designed, implemented and is applied in a distributed interactive simulation to significantly enhance the command and control training during simulated exercises. The architecture is based on monitoring, evaluation, and advice agents, which cooperate to provide alternatives to the dec ision-maker in a time and resource constrained environment. The architecture is implemented and tested within the context of an AWACS Weapons Director trainer tool. The foundation of the work required a wide range of preliminary research topics to be covered, including real-time systems, resource allocation, agent-based computing, decision support systems, and distributed interactive simulations. The major contribution of our work is the construction of a multi-agent architecture and its application to an operational decision support system for command and control interactive simulation. The architectural design for the multi-agent system was drafted in the first stage of the work. In the next stage rules of engagement, objective and cost functions were determined in the AWACS (Airforce command and control) decision support domain. Finally, the multi-agent architecture was implemented and evaluated inside a distributed interactive simulation test-bed for AWACS Vv\u27Ds. The evaluation process combined individual and team use of the decision support system to improve the performance results of WD trainees. The decision support system is designed and implemented a distributed architecture for performance-oriented management of software agents. The approach provides new agent interaction protocols and utilizes agent performance monitoring and remote synchronization mechanisms. This multi-agent architecture enables direct and indirect agent communication as well as dynamic hierarchical agent coordination. Inter-agent communications use predefined interfaces, protocols, and open channels with specified ontology and semantics. Services can be requested and responses with results received over such communication modes. Both traditional (functional) parameters and nonfunctional (e.g. QoS, deadline, etc.) requirements and captured in service requests

Aerospace medicine and Biology: A continuing bibliography with indexes, supplement 177

This bibliography lists 112 reports, articles, and other documents introduced into the NASA scientific and technical information system in January 1978