Analytical models for well-mixed populations of cooperators and defectors under limiting resources

In the study of the evolution of cooperation, resource limitations are usually assumed just to provide a finite population size. Recently, however, agent-based models have pointed out that resource limitation may modify the original structure of the interactions and allow for the survival of unconditional cooperators in well-mixed populations. Here, we present analytical simplified versions of two types of agent-based models recently published: one in which the limiting resource constrains the ability of reproduction of individuals but not their survival, and a second one where the limiting resource is necessary for both reproduction and survival. One finds that the analytical models display, with a few differences, the same qualitative behavior of the more complex agent-based models. In addition, the analytical models allow us to expand the study and identify the dimensionless parameters governing the final fate of the system, such as coexistence of cooperators and defectors, or dominance of defectors or of cooperators. We provide a detailed analysis of the occurring phase transitions as these parameters are varied.Comment: 7 pages, 8 figure

Neural Network Local Navigation of Mobile Robots in a Moving Obstacles Environment

IF AC Intelligent Components and Instruments for Control Applications, Budapest, Hungary, 1994This paper presents a local navigation method based on generalized predictive control. A modified cost function to avoid moving and static obstacles is presented. An Extended Kaiman Filter is proposed to predict the motions of the obstacles. A Neural Network implementation of this method is analysed. Simulation results are shown.Ministerio de Ciencia y Tecnología TAP93-0408Ministerio de Ciencia y Tecnología TAP93-058

Fuzzy Predictive Controller for Mobile Robot Path Tracking

IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.Ministerio de Ciencia y Tecnología TAP95-0307Ministerio de Ciencia y Tecnología TAP96-884C