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Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol

Learning Distributed Object Pushing: Individual Learning and...

引用

2006 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics intelligent robots Fuzzy systems Learning Friction control systems Artificial intelligence Robot control Fuzzy control

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

引用

IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation intelligent robots Signal design Mechatronics Process control intelligent control

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Temperature-aided Fingerprinting for localization in wireless local area networks

Temperature-Aided Fingerprinting for localization in wireles...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URai)

作者： Kave Aryanpoo Hadi Moradi Robotics and AI Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.

关键词： Fingerprint recognition Temperature distribution Educational institutions Buildings Temperature sensors Temperature measurement

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A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots

A New Architecture to Execute CAs-Based Path-Planning Algori...

引用

International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices Computer architecture Orbital robotics Automata intelligent sensors robotics and automation

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Comparing effects of rigid, flexible, and actuated series-elastic spines on bounding gait of quadruped robots

Comparing effects of rigid, flexible, and actuated series-el...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Hasan H. Kani Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Cognitive Robotics Laboratory School of ECE College of Engineering University of Tehran Tehran Iran

Spinal actuation is necessary for quadruped robots to achieve rapid leg locomotion. In this paper, effect of flexible spinal actuation on the bounding gait is investigated. By defining a performance criterion for the bounding gait, a quadruped robot (Ghostdog) is tested in four different case studies; namely rigid spine, flexible passive spine, actuated spine, and series elastic actuated spine. We show that the robot with a series elastic actuator in its spinal joint has the best performance criterion and is the best robot in terms of bounding power consumption. On the other hand, it is shown that by using spinal actuation not only the speed of locomotion increases considerably, but also the pattern of bounding becomes more similar to real fast felines.

关键词： Robots Oscillators Equations Hip

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

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International Conference on Neural Information processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback intelligent agent intelligent robots Process control control systems intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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Design of a nonlinear adaptive natural oscillator: Towards natural dynamics exploitation in cyclic tasks

Design of a nonlinear adaptive natural oscillator: Towards n...

引用

IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Rezvan Nasiri Mahdi Khoramshahi Majid Nili Ahmadabadi Cognitive Robotics Laboratory Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we present the dynamical equations of a nonlinear adaptive natural oscillator (NANO) in order to exploit the natural dynamics in robotic systems. The presented oscillator tries to minimize an energy-based cost function by adapting the shape and frequency of the reference trajectory. Stability, convergence, and optimality of this oscillator are guaranteed analytically. Moreover, the performance of this oscillator is investigated by applying it to three different types of robotic models;i.e., the pendulum, the adaptive-toy, and the hopper-leg.

关键词： Trajectory Learning Energy Efficiency Cyclic Tasks Natural Dynamics

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A decision-making based approach for fault-handling in multi-agent systems

A decision-making based approach for fault-handling in multi...

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International Conference on Neural Information processing

作者： M.S. Mirian M.N. Ahmadabadi Z. Navabi Robotics and AI Laboratory Department of Elect. and Comp. Eng Faculty of Engineering University of Tehran Iran Robotics and AI Lab Control & Intelligent Processing Center of Excellence Dept. of Elect. and Comp. Eng. University of Tehran Iran

This paper focuses on distributed fault recovery in agent-based systems by providing help for faulty members. In the presented method, if one faulty agent requests for help or agents are informed of fault in one of their teammates, they first decide if they are able to help or not. In the case that they are able to help and several help requests exist, helper agents specify a sequence of help actions through another distributed decision-making phase. The introduced fault clearing method is totally distributed in the sense that each helper agent makes its decisions by itself and no central or special agent exists in the system. In fact, the decision making process and the required information are designed such that the agents cooperate implicitly to prevent the system performance loss. The developed ideas are implemented in a simulated distributed control system. As it is shown, the proposed distributed fault-clearing method through reconfiguring the agents' roles is very effective.

关键词： Decision making Multiagent systems Robustness Condition monitoring Process control Robots Artificial intelligence Hardware Distributed decision making System performance

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Dynamic manipulation of active objects: Modeling and optimization

Dynamic manipulation of active objects: Modeling and optimiz...

引用

IEEE/ASME (aiM) International Conference on Advanced intelligent Mechatronics

作者： L. Makarem A. Akbarimajd M. Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Exellence ECE Department University of Tehran Tehran Iran Faculty of Engineering University of Mohaghegh Ardabil Iran

In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.

关键词： Manipulator dynamics Legged locomotion Arm intelligent robots Leg Mechatronics Mathematical model Cost function Orbital robotics Motion control

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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