Information fusion in multi-agent system based on reliability criterion

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-00369-6_13The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.Mellado Arteche, M.; Skrzypczyk, K. (2013). Information fusion in multi-agent system based on reliability criterion. En Vision Based Systemsfor UAV Applications. Springer. 207-217. doi:10.1007/978-3-319-00369-6_13S207217Cheng, X., Shen, J., Liu, H., Gu, G.: Multi-robot Cooperation Based on Hierarchical Reinforcement Learning. In: Shi, Y., van Albada, G.D., Dongarra, J., Sloot, P.M.A. (eds.) ICCS 2007, Part III. LNCS, vol. 4489, pp. 90–97. Springer, Heidelberg (2007)Harmati, I., Skrzypczyk, K.: Robot team coordination for target tracking using fuzzy logiccontroller in game theoretic framework. Robotics and Autonomous Systems 57(1) (2009)Jones, C., Mataric, M.: Adaptive Division of Labor in Large-Scale Minimalist Multi-Robot Systems. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, pp. 1969–1974 (2003)Kaminka, G.A., Erusalimchik, D., Kraus, S.: Adaptive Multi-Robot Coordination: A Game-Theoretic Perspective. In: Proc. of IEEE International Conference on Robotics and Automation, Anchorage Convention District, Anchorage, Alaska, USA (2002)Kok, J.R., Spaan, M.T.J., Vlassis, N.: Non-communicative multi-robot coordination in dynamic environments. Robotics and Autonomous Systems 50(2-3), 99–114 (2005)Klusch, M., Gerber, A.: Dynamic coalition formation among rational agents. IEEE Intelligent Systems 17(3), 42–47 (2002)Kraus, S., Winkfeld, J., Zlotkin, G.: Multiagent negotiation under time constraints. Artificial Intelligence 75, 297–345 (1995)Kraus, S.: Negotiation and cooperation in multiagent environments. Artificial Intelligence 94(1-2), 79–98 (1997)Mataric, M., Sukhatme, G., Ostergaard, E.: Multi-Robot Task Allocation in Uncertain Environments. Autonomous Robots 14, 255–263 (2003)Schneider-Fontan, M., Mataric, M.J.: Territorial Multi-Robot Task Division. IEEE Transactionson Robotics and Automation 14(5), 815–822 (1998)Winkfeld, K.J., Zlotkin, G.: Multiagent negotiation under time constraints. Artificial Intelligence (75), 297–345 (1995)Wooldridge, M.: An Introduction to Multiagent Systems. Johnn Wiley and Sons Ltd., UK (2009) ISBN:978-0-470-51946-2Vail, D., Veloso, M.: Dynamic Multi-Robot Coordination. In: Schultz, A., et al. (eds.) Multi Robot Systems: From Swarms to Intelligent Automata, vol. II, pp. 87–98. Kluwer Academic Publishers, The Netherlands (2003)Gałuszka, A., Pacholczyk, M., Bereska, D., Skrzypczyk, K.: Planning as Artifficial Intelligence Problem-short introduction and overview. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 95–104. Springer, Heidelberg (2013)Jędrasiak, K., Bereska, D., Nawrat, A.: The Prototype of Gyro-Stabilized UAV Gimbal for Day-Night Surveillance. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 107–116. Springer, Heidelberg (2013)Galuszka, A., Bereska, D., Simek, K., Skrzypczyk, K., Daniec, K.: Application of graphs theory methods to criminal analysis system. Przeglad Elektrotechniczny 86(9), 278–283 (2010

Culture, Embodiment and Genes: Unravelling the Triple Helix

Much recent work stresses the role of embodiment and action in thought and reason, and celebrates the power of transmitted cultural and environmental structures to transform the problem-solving activity required of individual brains. By apparent contrast, much work in evolutionary psychology has stressed the selective fit of the biological brain to an ancestral environment of evolutionary adaptedness, with an attendant stress upon the limitations and cognitive biases that result. On the face of it, this suggests either a tension or, at least, a mismatch, with the symbiotic dyad of cultural evolution and embodied cognition. In what follows, we explore this mismatch by focusing on three key ideas: cognitive niche construction; cognitive modularity; and the existence (or otherwise) of an evolved universal human nature. An appreciation of the power and scope of the first, combined with consequently more nuanced visions of the latter two, allow us to begin to glimpse a much richer vision of the combined interactive potency of biological and cultural evolution for active, embodied agents

Ground-Level Intelligence: Action-Oriented Representation and the Dynamics of the Background

First paragraph: Studies of embodied intelligence have often tended to focus on the essentially responsive aspects of bodily expertise (for example, catching a ball once it has been hit into the air). But skilled sportsmen and sportswomen, actors and actresses, dancers, orators, and other performers often execute ritual-like gestures or other fixed action routines as performance-optimizing elements in their pre-performance preparations, especially when daunting or unfamiliar conditions are anticipated. For example, a recent movie (The King's Speech) and a book of memories (Logue and Conradi, 2010) have revealed that, just before broadcasting his historic announcement that the United Kingdom was entering the Second World War, King George VI furiously repeated certain tongue twisters in a resolute effort to overcome his relentless stutter. Such ritualized actions don't merely change the causal relations between performers and their physical environments (although this may well be part of their function); they provide performers with the practical scaffolds that summon more favourable contexts for their accomplishments, by uncovering viable landscapes for effective action rather than unassailable barricades of frightening obstacles. In other words, while the kinds of embodied skills that have occupied many recent theorists serve to attune behaviour to an actual context of activity, whether that context is favourable or not, preparatory embodied routines actively refer to certain potential (and thus non-actual) contexts of a favourable nature that those routines themselves help to bring about, indicating the possibilities of actions disclosed by the desired context. As we shall see, this sort of transformative event, which is exemplified by, but not confined to, the ritualized gestures and routines of skilled performers, is a regular occurrence in everyday skilled activity, not the crowning achievement of a few talented individuals; so the capacity in question belongs centrally to our ordinary suite of bodily skills. The theoretical ramifications of that embodied capacity are the topic of this paper

Biophysical and Biochemical Characterization of Avian Secretory Component Provides Structural Insights into the Evolution of the Polymeric Ig Receptor

The polymeric Ig receptor (pIgR) transports polymeric Abs across epithelia to the mucosa, where proteolytic cleavage releases the ectodomain (secretory component [SC]) as an integral component of secretory Abs, or as an unliganded protein that can mediate interactions with bacteria. SC is conserved among vertebrates, but domain organization is variable: mammalian SC has five domains (D1-D5), whereas avian, amphibian, and reptilian SC lack the D2 domain, and fish SC lacks domains D2-D4. In this study, we used double electron–electron resonance spectroscopy and surface plasmon resonance binding studies to characterize the structure, dynamics, and ligand binding properties of avian SC, avian SC domain variants, and a human SC (hSC) variant lacking the D2 domain. These experiments demonstrated that, unlike hSC, which adopts a compact or “closed” domain arrangement, unliganded avian SC is flexible and exists in both closed and open states, suggesting that the mammalian SC D2 domain stabilizes the closed conformation observed for hSC D1-D5. Experiments also demonstrated that avian and mammalian pIgR share related, but distinct, mechanisms of ligand binding. Together, our data reveal differences in the molecular recognition mechanisms associated with evolutionary changes in the pIgR protein

Naturalizing Dasein and other (Alleged) Heresies

First paragraph: To my mind, being wrong is nowhere near as disheartening as being boring, so I am encouraged by the fact that, in the four chapters immediately preceding this one, four thinkers for whom I have nothing but the utmost intellectual respect have found my ongoing project to articulate the philosophical groundwork for a genuinely Heideggerian cognitive science interesting enough that they have taken the trouble to explain precisely why it is flawed. Just how deep the supposed flaws go depends on which set of criticisms one chooses to read. For Ratcliffe and Rehberg they go very deep indeed, since, for these thinkers, there is a sense in which the very idea of a Heideggerian cognitive science borders on the incoherent. Dreyfus and Rietveld, on the other hand, seem to agree with me that something worth calling a Heideggerian cognitive science is certainly possible; it's just that my version of it is seriously defective

Responsible domestic robotics:Exploring ethical implications of robots in the home

Purpose: The vision of robotics in the home promises increased convenience, comfort, companionship, and greater security for users. The robot industry risks causing harm to users, being rejected by society at large, or being regulated in overly prescriptive ways if robots are not developed in a socially responsible manner. The purpose of this paper is to explore some of the challenges and requirements for designing responsible domestic robots.Design/methodology/approach: The paper examines definitions of robotics and the current commercial state of the art. In particular it considers the emerging technological trends, such as smart homes, that are already embedding computational agents in the fabric of everyday life. The paper then explores the role of values in design, aligning with human computer interaction and considers the importance of the home as a deployment setting for robots. The paper examines what responsibility in robotics means and draws lessons from past home information technologies. An exploratory pilot survey was conducted to understand user concerns about different aspects of domestic robots such as form, privacy and trust. The paper provides these findings, married with literature analysis from across technology law, computer ethics and computer science.Findings: By drawing together both empirical observations and conceptual analysis, this paper concludes that user centric design is needed to create responsible domestic robotics in the future.Originality/value: This multidisciplinary paper provides conceptual and empirical research from different domains to unpack the challenges of designing responsible domestic robotics

Spatial representation for navigation in animats

This article considers the problem of spatial representation for animat navigation systems. It is proposed that the global navigation task, or "wayfinding, " is best supported by multiple interacting subsystems, each of which builds its own partial representation of relevant world knowledge. Evidence from the study of animal navigation is reviewed to demonstrate that similar principles underlie the wayfinding behavior of animals, including humans. A simulated wayfinding system is described that embodies and illustrates several of the themes identified with animat navigation. This system constructs a network of partial models of the quantitative spatial relations between groups of salient landmarks. Navigation tasks are solved by propagating egocentric view information through this network, using a simple but effective heuristic to arbitrate between multiple solutions