IKT-BT: Indirect Knowledge Transfer Behavior Tree Framework for Multi-Robot Systems Through Communication Eavesdropping

Multi-agent and multi-robot systems (MRS) often rely on direct communication for information sharing. This work explores an alternative approach inspired by eavesdropping mechanisms in nature that involves casual observation of agent interactions to enhance decentralized knowledge dissemination. We achieve this through a novel IKT-BT framework tailored for a behavior-based MRS, encapsulating knowledge and control actions in Behavior Trees (BT). We present two new BT-based modalities - eavesdrop-update (EU) and eavesdrop-buffer-update (EBU) - incorporating unique eavesdropping strategies and efficient episodic memory management suited for resource-limited swarm robots. We theoretically analyze the IKT-BT framework for an MRS and validate the performance of the proposed modalities through extensive experiments simulating a search and rescue mission. Our results reveal improvements in both global mission performance outcomes and agent-level knowledge dissemination with a reduced need for direct communication

Peripheral vision field fatigue during simulated driving : the effects of time on task and time of day on selected psychophysiological, performance and subjective responses

Worldwide, motor accidents are responsible for a large number of deaths and disabilities (Connor et al., 2001), and one of the major causes of motor accidents is driver fatigue. Although majority of drivers are aware of the dangers of fatigued driving, accidents related to this continues to contribute to a large percentage of all accidents, between 5 and 50% (Nilsson et al., 1997; Williamson et al., 2011). The purpose of the research was to establish the effect that fatigue renders on an individual’s peripheral visual field and to determine whether a decrement in driving performance occurs at the same rate as a decrement in peripheral visual performance. Fatigue was induced through time of day as well as time on task. Sixteen students from Rhodes University were recruited, subject to no previous sleep disorders, among other criteria. Each participant was required to partake in two conditions, namely a day condition (09h00–11h00) and a night condition (23h00– 01h00). Each condition consisted of a 90 minute dual task; the primary task was a tracking task, in which participants were instructed to track a white line as accurately as possible. A secondary peripheral response task was introduced, in which participants were instructed to respond as quickly as possible to the peripheral stimuli, by pressing one of two clickers located on the steering wheel. The peripheral stimuli were located at 20º, 30º and 40º visual angle. Psychophysiological, performance and subjective measures were obtained before, during and after the main task. The pre- and post-tests included core body temperature, critical flicker fusion frequency threshold, a digit span memory test, Wits Sleepiness Scale and a NASA-TLX questionnaire. The psychophysiological and performance measures of heart rate, heart rate variability, blink frequency, blink duration, lane deviation, number of saccades towards peripheral stimuli, response time to peripheral stimuli and the percentage of missed peripheral responses were all recorded throughout the 90 minute main dual task. The results revealed significant differences (p<0.05) for heart rate variability, number of saccades towards peripheral stimuli and the Wits Sleepiness Scale, with regard to time of day. For time on task, significant effects were established for lane deviation, response time to peripheral stimuli, percentage of missed peripheral responses, heart rate, heart rate variability, blink frequency, blink duration, critical flicker fusion frequency threshold, core body temperature and the Wits Sleepiness Scale. Eccentricity was analysed and found to be significant for response time to peripheral stimuli, as well as for the percentage of missed peripheral responses; there was a significant increase in both measures with an increase in the stimuli eccentricity. No significances were established for time of day or between the pre- and post-tests conducted for the digit span memory performance; however, a significant interactional effect between the two was established. When assessing the percentage rate of decrement of driving performance compared to the percentage rate in the decrement of the missed peripheral responses, it was found that the percentage rate of decrement was equal for both measures. Thus from this research it can be seen that, concurrent with a decrement in driving performance, there are adverse effects on an individuals' peripheral vision, which have great implications for the safety of workers in industry and transport, as well as motorists. It was also established that time on task is possibly a more appropriate variable to consider than time of day, when implementing work schedules and rest breaks in industry, transport and fields alike, as more significant findings were seen for time on task compared to time of day.Adobe Acrobat 9.53 Paper Capture Plug-i

A study on the ephemeral nature of knowledge shared within multiagent systems

Achieving knowledge sharing within an artificial swarm system could lead to significant development in autonomous multiagent and robotic systems research and realize collective intelligence. However, this is difficult to achieve since there is no generic framework to transfer skills between agents other than a query-response-based approach. Moreover, natural living systems have a "forgetfulness" property for everything they learn. Analyzing such ephemeral nature (temporal memory properties of new knowledge gained) in artificial systems has never been studied in the literature. We propose a behavior tree-based framework to realize a query-response mechanism for transferring skills encoded as the condition-action control sub-flow of that portion of the knowledge between agents to fill this gap. We simulate a multiagent group with different initial knowledge on a foraging mission. While performing basic operations, each robot queries other robots to respond to an unknown condition. The responding robot shares the control actions by sharing a portion of the behavior tree that addresses the queries. Specifically, we investigate the ephemeral nature of the new knowledge gained through such a framework, where the knowledge gained by the agent is either limited due to memory or is forgotten over time. Our investigations show that knowledge grows proportionally with the duration of remembrance, which is trivial. However, we found minimal impact on knowledge growth due to memory. We compare these cases against a baseline that involved full knowledge pre-coded on all agents. We found that knowledge-sharing strived to match the baseline condition by sharing and achieving knowledge growth as a collective system.Comment: In Proceedings of the Fifth International Symposium on Swarm Behavior and Bio-Inspired Robotics 2022 (SWARM 5th 2022

Injury mechanism classification in soccer videos

Soccer is a very popular sport but also has a high rate of injuries. In this paper, player falling events in soccer videos are classified into five major categories. These cate-gories have been identified by soccer coaches as the major mechanisms behind player injuries. Automatic detection of these events will be useful to coaches to plan specific train-ing modules and to impart individual training to the players that will enhance their physical strength and also their play-ing style. A Bag-of-Words framework is used and a baseline classification accuracy is established that will serve as a reference point for further work. 1