Multi-Robot Transfer Learning: A Dynamical System Perspective

Multi-robot transfer learning allows a robot to use data generated by a second, similar robot to improve its own behavior. The potential advantages are reducing the time of training and the unavoidable risks that exist during the training phase. Transfer learning algorithms aim to find an optimal transfer map between different robots. In this paper, we investigate, through a theoretical study of single-input single-output (SISO) systems, the properties of such optimal transfer maps. We first show that the optimal transfer learning map is, in general, a dynamic system. The main contribution of the paper is to provide an algorithm for determining the properties of this optimal dynamic map including its order and regressors (i.e., the variables it depends on). The proposed algorithm does not require detailed knowledge of the robots' dynamics, but relies on basic system properties easily obtainable through simple experimental tests. We validate the proposed algorithm experimentally through an example of transfer learning between two different quadrotor platforms. Experimental results show that an optimal dynamic map, with correct properties obtained from our proposed algorithm, achieves 60-70% reduction of transfer learning error compared to the cases when the data is directly transferred or transferred using an optimal static map.Comment: 7 pages, 6 figures, accepted at the 2017 IEEE/RSJ International Conference on Intelligent Robots and System

Optimizing Service Differentiation Scheme with Sized-based Queue Management in DiffServ Networks

In this paper we introduced Modified Sized-based Queue Management as a dropping scheme that aims to fairly prioritize and allocate more service to VoIP traffic over bulk data like FTP as the former one usually has small packet size with less impact to the network congestion. In the same time, we want to guarantee that this prioritization is fair enough for both traffic types. On the other hand we study the total link delay over the congestive link with the attempt to alleviate this congestion as much as possible at the by function of early congestion notification. Our M-SQM scheme has been evaluated with NS2 experiments to measure the packets received from both and total link-delay for different traffic. The performance evaluation results of M-SQM have been validated and graphically compared with the performance of other three legacy AQMs (RED, RIO, and PI). It is depicted that our M-SQM outperformed these AQMs in providing QoS level of service differentiation.Comment: 10 pages, 9 figures, 1 table, Submitted to Journal of Telecommunication

On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics

This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible through the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficient algorithm for constructing IBC regions. We also prove the soundness of the algorithm. We then use the proposed algorithm to construct safe speed profiles for different robotic systems, including fully-actuated robots, ground robots modeled as unicycles with acceleration limits, and unmanned aerial vehicles (UAVs). Finally, we present several experimental results on UAVs to verify the effectiveness of the proposed algorithm. For instance, we use the proposed algorithm for real-time collision avoidance for UAVs.Comment: 17 pages, 18 figures, under review for publication in Automatic

Design of time delayed chaotic circuit with threshold controller

A novel time delayed chaotic oscillator exhibiting mono- and double scroll complex chaotic attractors is designed. This circuit consists of only a few operational amplifiers and diodes and employs a threshold controller for flexibility. It efficiently implements a piecewise linear function. The control of piecewise linear function facilitates controlling the shape of the attractors. This is demonstrated by constructing the phase portraits of the attractors through numerical simulations and hardware experiments. Based on these studies, we find that this circuit can produce multi-scroll chaotic attractors by just introducing more number of threshold values.Comment: 21 pages, 12 figures; Submitted to IJB