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A development planning approach combining game theory and network model is proposed to address the strategy selection and evolution for weapons system-of-systems (WSoS) characterized by an iterative and competitive development process between countries. More specifically, the development planning framework, including game player, strategy definition, and constraints (e.g., time and money), is first...
In interactive human-robot path-planning, a capability for expressing the path topology provides a natural mechanism for describing task requirements. We propose a topology-aware RRT∗ algorithm that can explore in parallel any given set of topologies. The topological information used by the algorithm can either be assigned by the human prior to the planning or be selected from the human in posterior...
This article covers the comparison of a primitive Dissipating-Predictive-State Planning Actor-Critic learning approach with SARSA(λ) (State-Action-Reward-State-Action) on the highly non-stationary competitive Cat and Mouse problem. The primary objective of the new algorithm was to minimize the number of constants that must be optimized before application while maintaining the performance found in...
This paper considers the problem of the absent-minded driver who must choose between alternatives with different payoff under the conditions of imperfect recall and varying degrees of knowledge of the system. We show that agents with access to quantum resources, or with a quantum mechanical basis, can obtain superior performance as compared to classical agents. The paper also considers the problem...
Proactive cognitive agents need to be capable of both generating their own goals and enacting them. In this paper, we cast this problem as that of maintaining equilibrium, that is, seeking opportunities to act that keep the system in desirable states while avoiding undesirable ones. We characterize desirability of states as graded preferences, using mechanisms from the field of fuzzy logic. As a result,...
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many of these unknown and unpredictable moving obstacles. The robot...
Dynamic domains involve complex decisions that must be made by experts. In these domains, the impacts of decisions lead to unpredictable results. An unexpected need for impact mitigation involves a great deal of material resources and expert cognitive capacity; after a decision is made, impact mitigation requires costly expert effort. To address this problem, this paper proposes the characterization...
Minimizing recovery times after disasters that impact complex systems of multiple infrastructures, especially in urban settings, is a challenging problem. A major difficulty is untangling the web of interdependencies that intertwine infrastructure and the objectives and preferences of the various owners and operators involved. In this paper, the integration of a game-theoretic conflict resolution...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
Autonomous driving relies on a wide range of domains of research. It faces rapid technological and theoretical advances, with various methods and process developments. For the interest of the high-level decision making subpart of autonomous vehicle architecture, the previous states of the art report a vast literature, from traditional mobile robotics to human-modelling approaches. The purpose of this...
Unmanned Surface Vehicles (USV) with capabilities of mobile sensing, data processing, and wireless communication have been deployed to support remote aquatic environmental monitoring. This paper introduces a sampling planner for spatiotemporal survey of an aquatic environment using a USV-based sensing system. The sampling planner is proposed to distribute the Sampling Locations of Interest (SLoIs)...
This paper deals with the ofï-line route planning of Automated Guided Vehicles (AGVs). We propose a conflict-free route planning approach for the AGVs' control system in a warehouse system. The candidate routes are determined by using the improved Dijkstra's algorithm. The potential conflicts are detected and classified upon the comparison of node coordinates and occupancy times. A self-adaptive strategy...
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