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Fostering cooperation of selfish agents through public goods in relation to the loners

Physical Review E 2016年第3期93卷 032320-032320页

作者： Jianlei Zhang Zengqiang Chen Zhongxin Liu Department of Automation College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China

Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.

关键词： Social system dynamics Social networks Game theory models

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Probabilistic Punishment on Free Riders in Threshold Public Goods Games

Probabilistic Punishment on Free Riders in Threshold Public ...

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第三十四届中国控制会议

作者： ZHANG Chunyan LIU Zhongxin SUN Qinglin CHEN Zengqiang Department of Automation Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University

ISBN: (纸本)9781467374439

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.

关键词： Cooperation,Evolutionary Game Theory,Public Goods Game

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Probabilistic punishment on free riders in threshold public goods games 34

Probabilistic punishment on free riders in threshold public ...

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34th Chinese control Conference, CCC 2015

作者： Chunyan, Zhang Zhongxin, Liu Qinglin, Sun Zengqiang, Chen Department of Automation Computer and Control Engineering Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin China

ISBN: (纸本)9789881563897

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails, can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cooperation Evolutionary Game Theory Public Goods Game

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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A continuous second-order sliding mode guidance against highly maneuverable targets 54

A continuous second-order sliding mode guidance against high...

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54th Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer (ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target. © 2015 The Society of Instrument and control Engineers-SICE.

关键词： Lyapunov methods

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A Composite Guidance Law based on the Nonlinear Disturbance Observer-based control for Mars Pinpoint Landing

A Composite Guidance Law based on the Nonlinear Disturbance ...

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第三十四届中国控制会议

作者： ZHANG Yabin GUO Lei SUN Haibin CHEN Wenhua WANG Sen School of Instrument Science and Opto-Electronics Engineering Beihang University National Key Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute School of Automation Science and Electrical Engineering Beihang University Department of Aeronautical and Automotive Engineering Loughborough University

ISBN: (纸本)9781467374439

The landing accuracy of a Mars lander is severely affected by a wide range of disturbances at the powered descent stage. To address this problem, a composite guidance law is proposed in this paper. The composite guidance law is developed by the combination of disturbance observer-based control(DOBC) technique and multiple sliding surfaces guidance(MSSG)theory. Compared with other guidance laws, the proposed method achieves promising disturbance rejection performance and high landing accuracy in both position and velocity, reducing the conservatism to a certain extent. The proposed guidance law does not require any off-line trajectory generation and its global stability is verified by using Lyapunov direct method. Simulation results show that the proposed guidance law is superior to the conventional guidance laws in terms of both disturbance rejection and landing accuracy.

关键词： Mars pinpoint landing,powered descent,disturbance observer-based control,multiple sliding surfaces guidance,multiple disturbances

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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A composite guidance law based on the nonlinear disturbance observer-based control for Mars pinpoint landing 34

A composite guidance law based on the nonlinear disturbance ...

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34th Chinese control Conference, CCC 2015

作者： Yabin, Zhang Lei, Guo Haibin, Sun Wenhua, Chen Sen, Wang School of Instrument Science and Opto-Electronics Engineering Beihang University Beijing China National Key Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Aeronautical and Automotive Engineering Loughborough University Loughborough United Kingdom

ISBN: (纸本)9789881563897

The landing accuracy of a Mars lander is severely affected by a wide range of disturbances at the powered descent stage. To address this problem, a composite guidance law is proposed in this paper. The composite guidance law is developed by the combination of disturbance observer-based control (DOBC) technique and multiple sliding surfaces guidance (MSSG) theory. Compared with other guidance laws, the proposed method achieves promising disturbance rejection performance and high landing accuracy in both position and velocity, reducing the conservatism to a certain extent. The proposed guidance law does not require any off-line trajectory generation and its global stability is verified by using Lyapunov direct method. Simulation results show that the proposed guidance law is superior to the conventional guidance laws in terms of both disturbance rejection and landing accuracy. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： disturbance observer-based control Mars pinpoint landing multiple disturbances multiple sliding surfaces guidance powered descent

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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