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Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations

Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
This paper formalizes the concept of macro-observations in Decentralized Partially Observable Semi-Markov Decision Processes (Dec-POSMDPs), allowing scalable semantic-level multi-robot decision making.  ...  This is important not only for low-level observations (e.g., accelerometer data), but also for high-level observations such as semantic object labels.  ...  Yet, limited work has been conducted on semantic-level multi-robot decision-making in stochastic domains.  ... 
doi:10.1109/icra.2017.7989107 dblp:conf/icra/OmidshafieiLELA17 fatcat:l4pxld4rjjbc5kbwqtg5fbcncy

Planning for decentralized control of multiple robots under uncertainty

Christopher Amato, George Konidaris, Gabriel Cruz, Christopher A. Maynor, Jonathan P. How, Leslie P. Kaelbling
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
This paper presents a probabilistic framework for synthesizing control policies for general multi-robot systems that is based on decentralized partially observable Markov decision processes (Dec-POMDPs  ...  The decentralized partially observable Markov decision process (Dec-  ...  RELATED WORK There are several frameworks for multi-robot decision making in complex domains.  ... 
doi:10.1109/icra.2015.7139350 dblp:conf/icra/AmatoKCMHK15 fatcat:fcuewi2djvckjc6oacznnenh3y

Modeling and Planning with Macro-Actions in Decentralized POMDPs

Christopher Amato, George Konidaris, Leslie P. Kaelbling, Jonathan P. How
2019 The Journal of Artificial Intelligence Research  
Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for decentralized multi-agent decision making under uncertainty.  ...  Therefore, we model systems where coordination decisions only occur at the level of deciding which macro-actions to execute.  ...  Acknowledgements We would like to thank Matthijs Spaan and Feng Wu for providing results as well as Ari Anders, Gabriel Cruz, and Christopher Maynor for their help with the robot experiments.  ... 
doi:10.1613/jair.1.11418 pmid:31656393 pmcid:PMC6814204 fatcat:idm6rl24kram7m2zed2z4z6dwi

Towards adaptive multi-robot systems: self-organization and self-adaptation

Christopher-Eyk Hrabia, Marco Lützenberger, Sahin Albayrak
2018 Knowledge engineering review (Print)  
We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework  ...  Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world  ...  Finally, we put everything into the relation of a multi-robot system application and the integration with higher-level decision-making and planning.  ... 
doi:10.1017/s0269888918000176 fatcat:ryxqd3qmkbe7xeg5cok43wrs7m

A rendezvous approach for correcting accumulative errors of multiple robots

Xuefeng Dai, Zheping Yan, Jianqi Zhao, Dahui Li
2018 EURASIP Journal on Wireless Communications and Networking  
This paper proposed a simple yet effective scheme for correcting odometer errors existed in each robot of a multi-robot system.  ...  Moreover, rendezvous is formulated by a set of predicate logic reasoning implications for each robot at upper level of soft architecture. The proposed approach was validated by computer simulations.  ...  Abbreviations Dec-iFDD: Decentralized model learning scheme based on the Incremental Feature Dependency Discovery; MacDec-POMDP: Macro-actions decentralized partially observable Markov decision process  ... 
doi:10.1186/s13638-018-1162-x fatcat:oewgmonxqfgqhhfklcqdw55jdm

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions  ...  and Defense Advanced Research Projects Agency (DARPA). 1 We also would like to thank our collaborators and sponsors including Boston Dynamics, JPL office of strategic investments, Intel, Clearpath Robotics  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Engineering Human–Machine Teams for Trusted Collaboration

Basel Alhaji, Janine Beecken, Rüdiger Ehlers, Jan Gertheiss, Felix Merz, Jörg P. Müller, Michael Prilla, Andreas Rausch, Andreas Reinhardt, Delphine Reinhardt, Christian Rembe, Niels-Ole Rohweder (+3 others)
2020 Big Data and Cognitive Computing  
In engineering human-machine teams, it is crucial to understand how planning and operational decision-making at the macro system level affects performance, stability, and user satisfaction of the "micro  ...  Neither Alice nor Bob can directly observe each other's level attentiveness, but need to infer it from other observations.  ... 
doi:10.3390/bdcc4040035 fatcat:uoanpxph5fbglo7sl3pytbkykm

Neurons, viscose fluids, freshwater polyp hydra-and self-organizing information systems

F. Heylighen, C. Gershenson, S. Staab, G.W. Flake, D.M. Pennock, D.C. Fain, D. De Roure, K. Aberer, Wei-Min Shen, O. Dousse, P. Thiran
2003 IEEE Intelligent Systems  
In the Semantic Web, authors will use a markup language to annotate data with semantic labels so machines can identify content meaning and use rules for manipulating semantic information appropriately.  ...  This emerging, semantically rich service-oriented infrastructure is an important large-scale, decentralized system in our Semantic Grid.  ... 
doi:10.1109/mis.2003.1217631 fatcat:qm2r6vmijrcc7f742j4oivfgui

Human Motion Trajectory Prediction: A Survey [article]

Andrey Rudenko, Luigi Palmieri, Michael Herman, Kris M. Kitani, Dariu M. Gavrila, Kai O. Arras
2019 arXiv   pre-print
information used.  ...  Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems.  ...  Galceran et al. (2015) introduce a multipolicy decision-making systems to generate robot motions based on predicted movements of other agents in the scene, estimated with a changepoint-based technique  ... 
arXiv:1905.06113v3 fatcat:cnomix2fs5gqvb6ormldgti2bm

Symbol Emergence in Robotics: A Survey [article]

Tadahiro Taniguchi, Takayuki Nagai, Tomoaki Nakamura, Naoto Iwahashi, Tetsuya Ogata, Hideki Asoh
2015 arXiv   pre-print
Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment  ...  ., humans and developmental robots.  ...  Communication always involves some kind of decision-making problems.  ... 
arXiv:1509.08973v1 fatcat:yg6bscvy2fdpdhapltyonvhs2a

Using Artificial Intelligence for Space Challenges: A Survey

Antonia Russo, Gianluca Lax
2022 Applied Sciences  
We focus on applications related to mission design, space exploration, and Earth observation, and we provide a taxonomy of the current challenges.  ...  Artificial intelligence is applied to many fields and contributes to many important applications and research areas, such as intelligent data processing, natural language processing, autonomous vehicles, and robots  ...  A multi-agent deep deterministic policy gradient algorithm is exploited. In [78] , a decentralized multi-robot system operation technique is presented.  ... 
doi:10.3390/app12105106 fatcat:jlkdbe4panbqfhridpozon6634

Opponent-Aware Planning with Admissible Privacy Preserving for UGV Security Patrol under Contested Environment

Junren Luo, Wanpeng Zhang, Wei Gao, Zhiyong Liao, Xiang Ji, Xueqiang Gu
2019 Electronics  
Unmanned ground vehicles (UGVs) have been widely used in security patrol.  ...  The simulation experiments with privacy leakage analysis and an indoor robot demonstration show the applicability of our proposed approaches.  ...  In this paper, we mainly focus on the middle layer for decision-making.  ... 
doi:10.3390/electronics9010005 fatcat:ms2g5anxp5glzebrqtjaerzwbi

A Survey of Opponent Modeling in Adversarial Domains

Samer Nashed, Shlomo Zilberstein
2022 The Journal of Artificial Intelligence Research  
Opponent modeling is the ability to use prior knowledge and observations in order to predict the behavior of an opponent.  ...  These discussions lead us to propose a new form of analysis for describing and predicting the evolution of game states over time.  ...  In a decentralized setting, Hoang et al. (2017) show how macro-action decentralized POMDPs (MacDec-POMDP) can be used to learn distributions of opponent strategies and formulate policies which perform  ... 
doi:10.1613/jair.1.12889 fatcat:o6wlyjr2gvdz3fs6b6szr6y55u

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Prasanna Kolar, Patrick Benavidez, Mo Jamshidi
2020 Sensors  
This survey will provide sensor information to researchers who intend to accomplish the task of motion control of a robot and detail the use of LiDAR and cameras to accomplish robot navigation.  ...  We present a survey of the current data processing techniques that implement data fusion using different sensors like LiDAR that use light scan technology, stereo/depth cameras, Red Green Blue monocular  ...  Other types of mapping are sensor level maps, which are sensor data derivations, and semantic maps, which are high-level decision enabling maps and contain object and space property details.  ... 
doi:10.3390/s20082180 pmid:32290582 pmcid:PMC7218742 fatcat:ngfckkvp3fc23o7idvivlhdzbq

Software agents: Languages, tools, platforms

Costin Bădică, Zoran Budimac, Hans-Dieter Burkhard, Mirjana Ivanovic
2011 Computer Science and Information Systems  
Thereinafter, it makes the distinction between single agent and multi-agent systems, goes through the broad spectrum of agent properties, discusses the most acknowledged classifications of software agents  ...  Afterwards, a number of useful and practically used tools and platforms available are presented, as well as support activities or phases of the process of agent-oriented software development.  ...  OI-174023 'Intelligent techniques and their integration into wide-spectrum decision support'.  ... 
doi:10.2298/csis110214013b fatcat:bc64xixmdvgotddftc3nrcodsy
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