Random Finite Set Theory and Optimal Control of Large Collaborative Swarms

Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves the control problem using Model Predictive Control (MPC) to overcome the aforementioned challenges. Computationally efficient solutions are obtained via the Iterative Linear Quadratic Regulator (ILQR). Information divergence is used to define the distance between the swarm RFS and the desired swarm configuration. Then, a stochastic optimal control problem is formulated using a modified L2^2 distance. Simulation results using MPC and ILQR show that swarm intensities converge to a target destination, and the RFS control formulation can vary in the number of target destinations. ILQR also provides a more computationally efficient solution to the RFS swarm problem when compared to the MPC solution. Lastly, the RFS control solution is applied to a spacecraft relative motion problem showing the viability for this real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731

Impact Of Content Features For Automatic Online Abuse Detection

Online communities have gained considerable importance in recent years due to the increasing number of people connected to the Internet. Moderating user content in online communities is mainly performed manually, and reducing the workload through automatic methods is of great financial interest for community maintainers. Often, the industry uses basic approaches such as bad words filtering and regular expression matching to assist the moderators. In this article, we consider the task of automatically determining if a message is abusive. This task is complex since messages are written in a non-standardized way, including spelling errors, abbreviations, community-specific codes... First, we evaluate the system that we propose using standard features of online messages. Then, we evaluate the impact of the addition of pre-processing strategies, as well as original specific features developed for the community of an online in-browser strategy game. We finally propose to analyze the usefulness of this wide range of features using feature selection. This work can lead to two possible applications: 1) automatically flag potentially abusive messages to draw the moderator's attention on a narrow subset of messages ; and 2) fully automate the moderation process by deciding whether a message is abusive without any human intervention

Approximate Analytical Solution to the Zonal Harmonics Problem Using Koopman Operator Theory

This work introduces the use of the Koopman operator theory to generate approximate analytical solutions for the zonal harmonics problem of a satellite orbiting a non-spherical celestial body. Particularly, the solution proposed directly provides the osculating evolution of the system under the effects of any order of the zonal harmonics, and can be automated to obtain any level of accuracy in the approximated solution. Moreover, this paper defines a modified set of orbital elements that can be applied to any kind of orbit and that allows the Koopman operator to have a fast convergence. In that regard, several examples of application are included, showing that the proposed methodology can be used in any kind of orbit, including circular, elliptic, parabolic and hyperbolic orbits.Comment: 34 pages, 13 figure

Decentralized Control of Large Collaborative Swarms using Random Finite Set Theory

Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. The contribution of this work is to decentralize Random Finite Set (RFS) control of large collaborative swarms for control of individual agents. The RFS control formulation assumes that the topology underlying the swarm control is complete and uses the complete graph in a centralized manner. To generalize the control topology in a localized or decentralized manner, sparse LQR is used to sparsify the RFS control gain matrix obtained using iterative LQR. This allows agents to use information of agents near each other (localized topology) or only the agent's own information (decentralized topology) to make a control decision. Sparsity and performance for decentralized RFS control are compared for different degrees of localization in feedback control gains which show that the stability and performance compared to centralized control do not degrade significantly in providing RFS control for large collaborative swarms.Comment: arXiv admin note: text overlap with arXiv:1810.0069