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International Conference on MultiAgent Systems Proceedings

作者： M. Tambe D.V. Pynadath N. Chauvat A. Das G.A. Kaminka Inf. Sci. Inst. Univ. of Southern California Marina del Rey CA USA Information Sciences Institute and Computer Science Department University of Southern California Marina del Rey CA USA

With the proliferation of software agents and smart hardware devices there is a growing realization that large-scale problems can be addressed by integration of such standalone systems. This has led to an increasing interest in integration architectures that enable a heterogeneous variety of agents and humans to work together. These agents and humans differ in their capabilities, preferences, the level of autonomy they are willing to grant the integration architecture and their inf.rmation requirements and performance. The challenge in coordinating such a diverse agent set is that potentially a large number of domain-specific and agent specific coordination plans may be required. We present a novel two-tiered approach to address this coordination problem. We first provide the integration architecture with general purpose teamwork coordination capabilities, but then enable adaptation of such capabilities for the needs or requirements of specific individuals. A key novel aspect of this adaptation is that it takes place in the context of other heterogeneous team members. We are realizing this approach in an implemented distributed agent integration architecture called Teamcore. Experimental results from two different domains are presented.

关键词： Humans Teamwork computer architecture Software agents Collaboration computer science Large scale integration Monitoring Costs Encoding

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Hand over control of unstable object using manipulators - an approach of continuously switching of controllers

Hand over control of unstable object using manipulators - an...

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IEEE Conference on Decision and Control

作者： Napolean T. Hoshino K. Furuta Dept. of Mech. & Environ. Inf. Tokyo Inst. of Technol. Japan Department of Management and System Science Science University of Tokyo Chino Nagano Japan Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan

ISBN: (纸本)0780366387

This paper presents a new hand over method of unstable object using robot manipulators by an approach of continuously switching of controllers. Each of the robot manipulator can be considered as a controller to stabilize the object. It is needed to switch from one controller to another so that the input of the system does not exceed the value which is required to stabilize the object. However, it is known that if the controller switches at unsuitable time, the system may become unstable. The idea of a new method presented here is to make a switching of the controllers based on the double bracket flow. It is shown that even if the switching time is done at any time, the system still remains stable. Experimental results using two Puma-like 6-DOF robot to hand over an inverted pendulum from one robot to another are presented.

关键词： Robots Manipulators Control systems Switches Design methodology Force control Environmental management Technology management engineering management inf.rmatics

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Effective testing and debugging methods and its supporting system with program deltas

Effective testing and debugging methods and its supporting s...

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International Workshop on Principles of Software Evolution

作者： M. Matsushita M. Teraguchi K. Inoue Dept. of Inf. & Comput. Sci. Osaka Univ. Japan Tokyo Research Laboratory IRM Japan Limited Yamato Kanagawa Japan Department of Information and Computer Science Faculty of Engineering Science Osaka University Toyonaka Osaka Japan Information Technology Center Nara Institute of Science and Technology Ikoma Nara Japan

ISBN: (纸本)0769509061

In the maintenance phase of software development, it is necessary to check that all features still perform correctly after some changes have been applied to existing software. However, it is not easy to debug the software when a defect is found in those features which have not changed during the modification, even using a regression test. Existing approaches employ program deltas to specify defects; they have the limitation of it being hard to enact them, and they don't support any actual debugging activities. Moreover, such a system is hard to introduce into an actual environment. In this paper, we propose DMET (Debugging METhod) to solve such problems. DMET supports debugging activities when a defect is found by regression tests through detection, indication and reflection procedures. We also implement DSUS (Debugging SUpporting System) based on DMET. DSUS executes DMET procedures automatically, and it is easy to configure for an existing environment. Through experimentation with DMET and DSUS, we have confirmed that DMET/DSUS reduce the debugging time of software significantly. As a result, DMET/DSUS help in evolving the software for the software maintenance aspects.

关键词： System testing Software maintenance Software testing Software debugging Operating systems Laboratories inf.rmation technology Software performance Reflection Programming

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Real-time estimating spatial configuration between multiple robots by triangle and enumeration constraints

Real-time estimating spatial configuration between multiple ...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： T. Nakamura A. Ebina M. Imai T. Ogasawara H. Ishiguro Graduate Sch. of Inf. Sci Nara Inst. of Sci. & Technol. Japan Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan Department of Computer and Communication System Wakayama University Wakayama Japan

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only the relative configuration between robots but also an absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot.

关键词： Robot sensing systems Robot vision systems Image sensors Real time systems Art Radio access networks Image reconstruction computer vision

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Distributed coordination of a set of autonomous mobile robots

Distributed coordination of a set of autonomous mobile robot...

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IEEE Symposium on Intelligent Vehicle

作者： P. Flocchini G. Prencipe N. Santoro P. Widmayer School of Inf. and Engineering University of Ottawa Ottawa Canada Dipartimento di Infonnatica Università di Pisa Pisa Italy Department of Computer Sc Carleton University Ottawa Canada Theoretische Infonnatik ETH Zürich Zurich Switzerland

The distributed coordination and control of a set of autonomous mobile robots is a problem widely studied in a variety of fields, such as engineering, artificial intelligence, artificial life, robotics. Generally, in these areas the problem is studied mostly from an empirical point of view. In contrast, we aim to understand the fundamental limitations on what a set of autonomous mobile robots can achieve. We describe the current investigations on what autonomous mobile robots can and can not do with respect to some coordination problems.

关键词： Mobile robots Robot kinematics Intelligent robots Pattern formation Mobile communication Distributed control Artificial intelligence Particle swarm optimization Self-assembly Animals

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Factorization method for multiple perspective views via iterative depth estimation

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Systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional inf.rmation of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Dynamic queue length thresholds for scheduling real-time traffic in ATM networks

Dynamic queue length thresholds for scheduling real-time tra...

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1999 IEEE International Conference on Communications, ICC 1999

作者： Lin, Chuang Lam, Ernest C.M. Inst. of Inf. Econ. and Technol. State Inf. Centre Beijing China Department of Computer Science Konrr BaDtist Universitv Hong Kong

ISBN: (纸本)078035284X

New schemes of scheduling real-time traffic in high speed ATM networks are proposed for multiple priority queues based on dynamic queue length thresholds in real-time scheduling. The proposed schemes will provide guaranteed real-time service for each connection and cell sequence integrity for virtual channel/path characteristics. We provide the stochastic Petri net model of these schemes and an approximate analysis technique, which significantly reduce the complexity of the model solution and can be applied to real ATM switch models. Using numerical results we show that our schemes outperform well known schemes such as the head-of-line priority control and the queue length threshold policy. © 1999 IEEE.

关键词： Asynchronous transfer mode

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Multi-level encoding and placement techniques for multi-resolution video streams on a disk array

Multi-level encoding and placement techniques for multi-reso...

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1999 IEEE Region 10 Conference, TENCON 1999

作者： Kim, Jinhwan Kim, Namyun Shin, Heonshik Sch. of Inf. and Comput. Eng. Hansung Univ. Korea Republic of Department of Computer Engineering Seoul National University Korea Republic of

ISBN: (纸本)0780357396

We propose multi-level encoding and placement techniques to efficiently support the retrieval of video streams on a disk array at different resolutions. For the MPEG-1 compression algorithm, this encoding technique first partitions the parent video stream in the temporal dimension. Each frame in the sub-stream is then partitioned in the chroma dimension yielding a low-resolution and a residual component. The server stores blocks of a component on a disk and stores blocks of different components on consecutive disks in a round-robin manner. The lower the resolution level being maintained, the smaller is the number of disks accessed by each client. © 1999 IEEE.

关键词： Motion Picture Experts Group standards

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An adaptive method for constructing fuzzy rules 6

An adaptive method for constructing fuzzy rules

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6th International Conference on Neural inf.rmation Processing, ICONIP 1999

作者： Hiew, Hong Liang Tsang, Chi Ping Sch. of Inf. Technol. Murdoch Univ. Murdoch WesternWA Australia Department of Computer Science University of Western Australia Nedlands Western6907 Australia

ISBN: (纸本)0780358716

Describes extensions to the recursive partitioning method of constructing rules in a fuzzy system. The method involves recursively breaking a region to be approximated into finer and finer sub-regions, each of the sub-regions then being approximated by a single fuzzy rule. This decomposition process can be determined by means of the required accuracy. We present a way of merging the rules, to adapt them to new situations (data becoming out-of-date, changing requirements for efficiency and accuracy, etc.). We apply the method to approximate a 3D surface and show that it can be an effective approximation method. © 1999 IEEE.

关键词： Fuzzy rules

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The use of an association rules matrix for economic modelling 6

The use of an association rules matrix for economic modellin...

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6th International Conference on Neural inf.rmation Processing, ICONIP 1999

作者： Veliev, Raouf Rubinov, Alex Stranieri, Andrew Sch. of Inf. Technol. and Math. Sci. Ballarat Univ. VIC Australia Donald Berman Laboratory for Information Technology and Law Department of Computer Science and Computer Engineering La Trobe Univ. BundooraVIC Australia

ISBN: (纸本)0780358716

Knowledge discovery techniques have not been widely used with macroeconomic data despite the social and political importance inherent in accurate economic forecasting. Rather, economic forecasting is currently performed with the use of models that rely heavily on theoretical assumptions. Economic assumptions are invariably contentious and model predictions are often rejected or accepted based on subjective perceptions about assumptions. We present an application of KDD (knowledge discovery in databases) that generates a forecasting model that avoids economic assumptions by focusing entirely on existing data. Although association rules are typically used for finding interesting patterns in data, this is not a strategy we employed. Our approach differs in that all possible association rules between variables representing the current state of an economy in a quarter and the state in the next quarter are generated to form a matrix. A metric based on the support, confidence and expected probability of each rule is then derived. The system has been used to perform economic analyses of existing and future government policies. The system has been developed using data from the US economy over the last 30 years. © 1999 IEEE.

关键词： Association rules

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