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Computational agents of commercial Real Time Strategic (RTS) games mostly have their behaviors designed via simple ad hoc and static techniques, which require manual definition of actions. Thus, such agents are not able to adapt themselves to diverse situations and their behavior becomes predictable along the game, enabling human players to eventually discover the strategies used by them. This work...
The ability of NAO robot to play tic-tac-toe board game using its hands is greatly determined by the kinematics model of NAO’s arms and the use of trajectory planning for manipulation tasks. In this paper, kinematics models for NAO’s upper body are presented. The forward kinematics models are designed by using the modified Denavit-Hartenberg convention. The inverse kinematics models of 5-joints NAO’s...
This paper describes a project-based learning demonstrator developed for a Real-Time Control course addressed to CS and EE students. The goal of this project is to immerse the students in a realistic design environment, where they can strengthen the theoretical principles while improving their abilities to think, analyse, and solve problems learning-by-doing. The student-developed educational application,...
Transmission systems have a critical role in well-functioning of liberalised electricity markets. Diversity in generation portfolio and improving system reliability are the main incentives for significant cross-border trades between Transmission System Operators (TSOs) in Europe. Nowadays, two ways are discussed for investment in additional transmission capacity by multiple TSOs: (1) Cooperative approach...
A reach-avoid game is one in which an agent attempts to reach a predefined goal, while avoiding some adversarial circumstance induced by an opposing agent or disturbance. Their analysis plays an important role in problems such as safe motion planning and obstacle avoidance, yet computing solutions is often computationally expensive due to the need to consider adversarial inputs. In this work, we present...
In this paper, we study the contracting issues in IT outsourcing projects. Our analysis also applies to other collaborative services, such as consulting, financial planning, and auditing. We consider that the client gets utility from the project throughout the development period since the software can be used as it is being developed by the vendor(s). The service output is contingent on the effort...
In this paper, the cost allocation methods for power grid investment are discussed in two conditions according to the benefit of each participant after the gird expansion. In the case that each player gets a net profit, Core and Nucleolus value concepts in Cooperative game theory are applied to allocate the expansion cost among them. In the other case that some players appose the power grid expansion...
Modern technology has made it possible to instill greater realism in computer games; however, most of the current game environments still need to better reflect the real world. In particular, most Non-Playable Characters (NPCs) are limited by a restricted range of reactions within the playing parameters of the game, which can be boring for the players. As a result, the players may quickly lose their...
Equilibrium based approach to multi-agent policy learning supposes that all agent uses the same algorithm. Otherwise it is easy for other agents to exploit its policy. Adaptive learning fits well versus fixed or equilibrium policy and in self-play. But it is deficient when against other kinds of adaptive players. On account of this mixed environment, this paper proposes a novel algorithm to learn...
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