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Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths often requires anticipating interaction with neighboring agents, the process of which can be computationally prohibitive. This work presents a decentralized multiagent...
Planning, control, perception, and learning are current research challenges in multirobot systems. The transition dynamics of the robots may be unknown or stochastic, making it difficult to select the best action each robot must take at a given time. The observation model, a function of the robots' sensor systems, may be noisy or partial, meaning that deterministic knowledge of the team's state is...
Many robotic applications require repeated, on-demand motion planning in mapped environments. In addition, the presence of other dynamic agents, such as people, often induces frequent, dynamic changes in the environment. Having a potential function that encodes pairwise cost-to-go can be useful for improving the computational speed of finding feasible paths, and for guiding local searches around dynamic...
This paper introduces a novel hierarchical decomposition approach for solving Multiagent Markov Decision Processes (MMDPs) by exploiting coupling relationships in the reward function. MMDP is a natural framework for solving stochastic multi-stage multiagent decision-making problems, such as optimizing mission performance of Unmanned Aerial Vehicles (UAVs) with stochastic health dynamics. However,...
We propose a flexible framework for producing highly personalized basketball video summaries, by integrating contextural information, narrative user preferences on story pattern, and general production principles. Starting from the multiple streams captured by a distributed set of fixed cameras, we study the implementation of autonomous viewpoint determination and automatic temporal segment selection,...
The quality of architectural design mostly rested with the individual performance of architects in the past. Today, with the increasing development of technical level, the quality of a design project more than ever before entails the cooperation among different professions involved and the teamwork of a professional team. The engineers and scholars, however, tend to disregard the errors in cross-professional...
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