Multi-robot hunting in dynamic environments

This paper is concerned with multi-robot hunting in dynamic environments. A BCSLA approach is proposed to allow mobile robots to capture an intelligent evader. During the process of hunting, four states including dispersion-random-search, surrounding, catch and prediction are employed. In order to ensure each robot appropriate movement in each state, a series of strategies are developed in this paper. The dispersion-search strategy enables the robots to find the evader effectively. The leader-adjusting strategy aims to improve the hunting robots&rsquo; response to environmental changes and the outflank strategy is proposed for the hunting robots to force the evader to enter a besieging circle. The catch strategy is designed for shrinking the besieging circle to catch the evader. The predict strategy allows the robots to predict the evader&rsquo;s position when they lose the tracking information about the evader. A novel collision-free motion strategy is also presented in this paper, which is called the direction-optimization strategy. To test the effect of cooperative hunting, the target to be captured owns a safety-motion strategy, which helps it to escape being captured. The computer simulations support the rationality of the approach.<br /

Fault-Tolerant Federated Reinforcement Learning with Theoretical Guarantee

The growing literature of Federated Learning (FL) has recently inspired Federated Reinforcement Learning (FRL) to encourage multiple agents to federatively build a better decision-making policy without sharing raw trajectories. Despite its promising applications, existing works on FRL fail to I) provide theoretical analysis on its convergence, and II) account for random system failures and adversarial attacks. Towards this end, we propose the first FRL framework the convergence of which is guaranteed and tolerant to less than half of the participating agents being random system failures or adversarial attackers. We prove that the sample efficiency of the proposed framework is guaranteed to improve with the number of agents and is able to account for such potential failures or attacks. All theoretical results are empirically verified on various RL benchmark tasks.Comment: Published at NeurIPS 2021. Extended version with proofs and additional experimental details and results. New version changes: reduced file size of figures; added a diagram illustrating the problem setting; added link to code on GitHub; modified proof for Theorem 6 (highlighted in red

Non-coding nucleotides and amino acids near the active site regulate peptide deformylase expression and inhibitor susceptibility in Chlamydia trachomatis

Chlamydia trachomatis, an obligate intracellular bacterium, is a highly prevalent human pathogen. Hydroxamic-acid-based matrix metalloprotease inhibitors can effectively inhibit the pathogen both in vitro and in vivo, and have exhibited therapeutic potential. Here, we provide genome sequencing data indicating that peptide deformylase (PDF) is the sole target of the inhibitors in this organism. We further report molecular mechanisms that control chlamydial PDF (cPDF) expression and inhibition efficiency. In particular, we identify the σ66-dependent promoter that controls cPDF gene expression and demonstrate that point mutations in this promoter lead to resistance by increasing cPDF transcription. Furthermore, we show that substitution of two amino acids near the active site of the enzyme alters enzyme kinetics and protein stability

Novel D–A chromophores with condensed 1,2,4-triazine system simultaneously display thermally activated delayed fluorescence and crystallization-induced phosphorescence

Control of photophysical properties is crucial for the continued development of electroluminescent devices and luminescent materials. Preparation and study of original molecules uncovers design rules towards efficient materials and devices. Here we have prepared 7 new compounds based on the popular donor–acceptor design used in thermally activated delayed fluorescence emitters. We introduce for the first time benzofuro[3,2-e]-1,2,4-triazine and benzothieno[3,2-e]-1,2,4-triazine acceptors which were connected to several common donors: phenoxazine, phenothiazine, carbazole and 3,6-di-tert-butylcarbazole. DFT calculations, and steady-state and time-resolved photophysical studies were conducted in solution and in solid states. While derivatives with azine moieties are non-emissive in any form, the compounds comprising 3,6-di-tert-butylcarbazole display TADF in all cases. More interestingly, the two derivatives substituted with a carbazole donor are TADF active when dispersed in a polymer matrix and phosphorescent at room temperature in neat films (microcrystalline form)