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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

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International Conference on Neural Information Processing

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

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： Intelligent robots Intelligent agent Process control Control systems Intelligent control Laboratories Intelligent systems Physics Mathematics Entropy

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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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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics Intelligent robots Velocity control

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Integrating laser and infrared sensors for learning dynamic self-organizing world maps

Integrating laser and infrared sensors for learning dynamic ...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： R. Araujo D. Lourenco G. Ferreira Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Coimbra Portugal

Mobile robots require the ability to build their own maps to operate in unknown environments. This article introduces a new online method for learning world maps in non-static worlds. The new approach expands the previously proposed method by Araujo et al. (1998, 1999), based on the fuzzy ART neural architecture (FARTNA) towards the application in non-static worlds. For this purpose we introduce the prune-able fuzzy ART neural architecture (PAFARTNA) which extends the FARTNA self-organizing neural network to include the ability to selectively remove recognition categories. A method is proposed for the perception of object removals, and integrated with the PAFARTNA. To study and experimentally validate the proposed methods we integrated sensor information from a laser range finder sensor and a ring of infrared range sensors. Results of experiments with a Nomad 200 mobile robot are presented, demonstrating the effectiveness of the proposed methods.

关键词： Infrared sensors Subspace constraints Solid modeling Mobile robots Robot sensing systems Sonar navigation Computational efficiency Buildings Sensor phenomena and characterization Gas insulated transmission lines

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Shape tracking using centroid-based methods 3rd

引用

3rd International Workshop on Energy Minimization Methods in computer Vision and Pattern Recognition, EMMCVPR 2001

作者： Abrantes, Arnaldo J. Marques, Jorge S. Department of Electrical and Computer Engineering Instituto Superior de Engenharia de Lisboa Lisbon Portugal Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)3540425233

Algorithms for tracking generic 2D object boundaries in a video sequence should not make strong assumptions about the shapes to be tracked. When only a weak prior is at hand, the tracker performance becomes heavily dependent on its ability to detect image features;to classify them as informative (i.e., belonging to the object boundary) or as outliers;and to match the informative features with corresponding model points. Unlike simpler approaches often adopted in tracking problems, this worklo oks at feature classification and matching as two unsupervised learning problems. Consequently, object tracking is converted into a problem of dynamic clustering of data, which is solved using competitive learning algorithms. It is shown that competitive learning is a key technique for obtaining accurate local motion estimates (avoiding aperture problems) and for discarding the outliers. In fact, the competitive learning approach shows several benefits: (i) a gradual propagation of shape information across the model;(ii) the use of shape and noise models competing for explaining the data;and (iii) the possibility of adopting high dimensional feature spaces containing relevant information extracted from the image. This workextends the unified framework proposed by the authors in [1]. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Learning algorithms

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Issues on the geometry of central catadioptric image formation

Issues on the geometry of central catadioptric image formati...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： J.P. Barreto H. Araujo Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769512720

An imaging system with a single effective viewpoint is called a central projection system. The conventional perspective camera is an example of a central projection system. systems using mirrors to enhance the field of view while keeping a unique center of projection are also examples of central projection systems. Perspective image formation can be described by a linear model with well known properties. In general central catadioptric imaging, the mapping between points in the world and in the image is highly nonlinear. The paper establishes a general model for central catadioptric image formation made up of three functions: a linear function mapping the world into an oriented projective plane, a nonlinear transformation between two oriented projective planes, and a collineation in the plane. The model is used to study issues in the projection of lines. The equations and geometric properties of general catadioptric imaging of lines are derived. The application of the results in auto-calibration of central catadioptric systems and reconstruction are discussed. A method to calibrate the system using three line images is presented.

关键词： Cameras Mirrors Nonlinear equations Application software Data mining Computational geometry Robot vision systems computer vision Surveillance Virtual reality

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Development of InP-based test structures for optical MEMS applications

Development of InP-based test structures for optical MEMS ap...

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International Symposium Semiconductor Device Research (ISDRS)

作者： M. Pruessner R. Grover L. Calhoun R. Ghodssi Laboratory for Physical Sciences College Park MD USA The Institute for Systems Research ISR University of Maryland College Park MD USA Department of Electrical and Computer Engineering University of Maryland College Park MD USA

ISBN: (纸本)0780374320

III-V semiconductors such as InP have a direct bandgap and thus allow active optical devices such as lasers and optical amplifiers to be realized. The monolithic integration of InP based active optical devices with MEMS actuators will enable a new generation of versatile wavelength division multiplexed (WDM) devices from lossless switches to tunable lasers and optical filters to be realized at the 1.55 /spl mu/m communications wavelength. While the electro-mechanical properties of silicon are well known,, those of InP must first be studied before InP-based optical micro-electro-mechanical systems (MEMS) can be realized. This can be done by the M-Test, which utilizes electrostatically actuated beams to obtain bending and stress parameters of thin films. An applied voltage between a beam and substrate causes the beam to bend down toward the substrate. The electrostatic force increases as 1/g/sup 2/ where g is the beam-to-substrate gap. The mechanical bending force of the beam is proportional to k(/spl Delta/g) where /spl Delta/g is the change in beam to substrate gap and k is the spring constant of the beam. The spring constant k is dependent on both material properties as well as beam geometry. Because the electrostatic and mechanical forces increase at different rates, it should be clear that an instability point exists at which the two forces no longer balance and the beam is pulled in to the substrate. This instability is known to occur at 2/3 the original beam to substrate gap. By measuring the pull in voltage for various beam geometries, Young's modulus and intrinsic stress of the beam material can be found. Both properties are fundamental for MEMS design.

关键词： Testing Micromechanical devices Substrates Optical filters Optical films Indium phosphide Optical devices Stimulated emission Semiconductor optical amplifiers Wavelength division multiplexing

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A focusing-by-vergence system controlled by retinal motion disparity

A focusing-by-vergence system controlled by retinal motion d...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Batista P. Peixoto H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

We describe a focusing-by-vergence system combining a flow based vergence process with an off-line pre-calibration of the focusing odometry. The vergence process is controlled by the retinal optical flow disparity and the target depth velocity is directly obtained from this disparity. The relationship between the target depth (focused target distance) and the focusing odometry of the motorized lens is obtained by an off-line focusing calibration, using a bivariate polynomial to model the relationship between these parameters. The focusing system is velocity controlled and the focusing velocity is dependent on the target focusing depth velocity and the focal distance velocity. The influence of the focal distance velocity that arise due to the focusing process itself is compensated by the adjustment of the zoom parameter based on a constant magnification approach, or through the modeling of the focal distance as a function of the zoom and focus lens settings.

关键词： Motion control Control systems Retina Velocity control Lenses Optical control Process control Image motion analysis Calibration Polynomials

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A surveillance system integrating visual telepresence

A surveillance system integrating visual telepresence

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International Conference on Pattern Recognition

作者： P. Peixoto J. Goncalves H. Antunes J. Batista H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769507506

We describe an indoor surveillance system which enables the control of a binocular active vision system by a remote operator wearing a head mounted display. Visual feedback to the head mounted display is obtained using the images captured by the active vision system. To maximize the 3D perception of the operator the system is able to adjust the vergence angle of the active vision system in order to maintain fixation on the objects in the center of the image. A wide-angle lens static camera located on the surveillance area is also used to enable the detection and tracking of intruders. In case of an intrusion a map with the location of the detected targets is displayed on top of the images shown on the head mounted display. This information allows the remote operator to redirect his attention to where the target is.

关键词： Surveillance Head Machine vision Displays Humans Delay Cameras Lenses Sensor phenomena and characterization Mechanical sensors

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Binocular tracking and accommodation controlled by retinal motion flow

Binocular tracking and accommodation controlled by retinal m...

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International Conference on Pattern Recognition

作者： J. Batista P. Peixoto H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769507506

Describes a tracking and accommodation system controlled by retinal motion flow. The tracking system decomposes two basic behaviors: smooth-pursuit and vergence. Both behaviors are optical flow based. The eye's accommodation (focusing) is based on a focusing-by-vergence approach combining a flow based vergence process with an off-line pre-calibration of the lens focusing odometry. The focusing and tracking system run in parallel and are both velocity controlled.

关键词： Tracking Motion control Retina Focusing Velocity control Geometry Angular velocity Control systems Equations Lenses

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