A case-based approach for coordinated action selection in robot soccer

Designing coordinated robot behaviors in uncertain, dynamic, real-time, adversarial environments, such as in robot soccer, is very challenging. In this work we present a case-based reasoning approach for cooperative action selection, which relies on the storage, retrieval, and adaptation of example cases. We focus on cases of coordinated attacking passes between robots in the presence of the defending opponent robots. We present the case representation explicitly distinguishing between controllable and uncontrollable indexing features, corresponding to the positions of the team members and opponent robots, respectively. We use the symmetric properties of the domain to automatically augment the case library. We introduce a retrieval technique that weights the similarity of a situation in terms of the continuous ball positional features, the uncontrollable features, and the cost of moving the robots from the current situation to match the case controllable features. The case adaptation includes a best match between the positions of the robots in the past case and in the new situation. The robots are assigned an adapted position to which they move to maximize the match to the retrieved case. Case retrieval and reuse are achieved within the distributed team of robots through communication and sharing of own internal states and actions. We evaluate our approach, both in simulation and with real robots, in laboratory scenarios with two attacking robots versus two defending robots as well as versus a defender and a goalie. We show that we achieve the desired coordinated passing behavior, and also outperform a reactive action selection approach.     

Band selection for hyperspectral images using probabilistic memetic algorithm

Band selection plays an important role in identifying the most useful and valuable information contained in the hyperspectral images for further data analysis such as classification, clustering, etc. Memetic algorithm (MA), among other metaheuristic search methods, has been shown to achieve competitive performances in solving the NP-hard band selection problem. In this paper, we propose a formal probabilistic memetic algorithm for band selection, which is able to adaptively control the degree of global exploration against local exploitation as the search progresses. To verify the effectiveness of the proposed probabilistic mechanism, empirical studies conducted on five well-known hyperspectral images against two recently proposed state-of-the-art MAs for band selection are presented.     

Evolving controllers for autonomous robot search teams

Deploying autonomous robot teams instead of humans in hazardous search and rescue missions could provide immeasurable benefits. In such operations, rescue workers often face environments where information about the physical conditions is impossible to obtain, which not only hampers the efficiency and effectiveness of the effort, but also places the rescuers in life-threatening situations. These types of risk promote the potential for using robot search teams in place of humans. This article presents the design and implementation of controllers to provide robots with appropriate behavior. The effective utilization of genetic algorithms to evolve controllers for teams of homogeneous autonomous robots for area coverage in search and rescue missions is described, along with a presentation of a robotic simulation program which was designed and developed. The main objective of this study was to contribute to efforts which attempt to implement real-world robotic solutions for search and rescue missions.     

Autonomous robot navigation using optimal control of probabilistic regular languages

This paper addresses autonomous intelligent navigation of mobile robotic platforms based on the recently reported algorithms of language-measure-theoretic optimal control. Real-time sensor data and model-based information on the robot's motion dynamics are fused to construct a probabilistic finite state automaton model that dynamically computes a time-dependent discrete-event supervisory control policy. The paper also addresses detection and avoidance of livelocks that might occur during execution of the robot navigation algorithm. Performance and robustness of autonomous intelligent navigation under the proposed algorithm have been experimentally validated on Segway RMP robotic platforms in a laboratory environment.     

Controlling a robot manipulator with fuzzy voice commands using a probabilistic neural network

Natural language commands are generated by intelligent human beings. As a result, they contain a lot of information. Therefore, if it is possible to learn from such commands and reuse that knowledge, it will be a very efficient process. In this paper, learning from such information rich voice commands for controlling a robot is studied. First, new concepts of fuzzy coach-player system and sub-coach are proposed for controlling robots with natural language commands. Then, the characteristics of the subjective human decision making process are discussed and a Probabilistic Neural Network (PNN) based learning method is proposed to learn from such commands and to reuse the acquired knowledge. Finally, the proposed concept is demonstrated and confirmed with experiments conducted using a PA-10 redundant manipulator.     

Unsupervised probabilistic feature selection using ant colony optimization

Feature selection (FS) is one of the most important fields in pattern recognition, which aims to pick a subset of relevant and informative features from an original feature set. There are two kinds of FS algorithms depending on the presence of information about dataset class labels: supervised and unsupervised algorithms. Supervised approaches utilize class labels of dataset in the process of feature selection. On the other hand, unsupervised algorithms act in the absence of class labels, which makes their process more difficult. In this paper, we propose unsupervised probabilistic feature selection using ant colony optimization (UPFS). The algorithm looks for the optimal feature subset in an iterative process. In this algorithm, we utilize inter-feature information which shows the similarity between the features that leads the algorithm to decreased redundancy in the final set. In each step of the ACO algorithm, to select the next potential feature, we calculate the amount of redundancy between current feature and all those which have been selected thus far. In addition, we utilize a matrix to hold ant related pheromone which shows the rate of the co-presence of every pair of features in solutions. Afterwards, features are ranked based on a probability function extracted from the matrix; then, their m-top is returned as the final solution. We compare the performance of UPFS with 15 well-known supervised and unsupervised feature selection methods using different classifiers (support vector machine, naive Bayes, and k-nearest neighbor) on 10 well-known datasets. The experimental results show the efficiency of the proposed method compared to the previous related methods.     

A syntactic approach to robot imitation learning using probabilistic activity grammars

This paper describes a syntactic approach to imitation learning that captures important task structures in the form of probabilistic activity grammars from a reasonably small number of samples under noisy conditions. We show that these learned grammars can be recursively applied to help recognize unforeseen, more complicated tasks that share underlying structures. The grammars enforce an observation to be consistent with the previously observed behaviors which can correct unexpected, out-of-context actions due to errors of the observer and/or demonstrator. To achieve this goal, our method (1) actively searches for frequently occurring action symbols that are subsets of input samples to uncover the hierarchical structure of the demonstration, and (2) considers the uncertainties of input symbols due to imperfect low-level detectors.We evaluate the proposed method using both synthetic data and two sets of real-world humanoid robot experiments. In our Towers of Hanoi experiment, the robot learns the important constraints of the puzzle after observing demonstrators solving it. In our Dance Imitation experiment, the robot learns 3 types of dances from human demonstrations. The results suggest that under reasonable amount of noise, our method is capable of capturing the reusable task structures and generalizing them to cope with recursions.     

Mobile robot navigation using grid line patterns via probabilistic measurement modeling

Mobile robots are generally equipped with proprioceptive motion sensors such as odometers and inertial sensors. These sensors are used for dead-reckoning navigation in an indoor environment where GPS is not available. However, this dead-reckoning scheme is susceptible to drift error in position and heading. This study proposes using grid line patterns which are often found on the surface of floors or ceilings in an indoor environment to obtain pose (i.e., position and orientation) fix information without additional external position information by artificial beacons or landmarks. The grid lines can provide relative pose information of a robot with respect to the grid structure and thus can be used to correct the pose estimation errors. However, grid line patterns are repetitive in nature, which leads to difficulties in estimating its configuration and structure using conventional Gaussian filtering that represent the system uncertainty using a unimodal function (e.g., Kalman filter). In this study, a probabilistic sensor model to deal with multiple hypotheses is employed and an online navigation filter is designed in the framework of particle filtering. To demonstrate the performance of the proposed approach, an experiment was performed in an indoor environment using a wheeled mobile robot, and the results are presented.     

Mission-based online generation of probabilistic monitoring models for mobile robot navigation using Petri nets

This paper presents a generic hybrid monitoring approach, which allows the detection of inconsistencies in the navigation of autonomous mobile robots using online-generated models. A mission on the context of the navigation corresponds to an autonomous navigation from a start to an end mission point. The operator defines this mission by selecting a final goal point. Based on this selection the monitoring models for the current mission must be generated online. The originalities of this work are (i) the association of classic state estimation based on a particle filter with a special class of Petri net in order to deliver an estimation of the next robot state (position) as well as the environment state (graph nodes) and to use both pieces of information to distinguish between external noise influences, internal component faults and global behaviour inconsistency (ii) the integration of the geometrical and the logical environment representation into the monitor model (iii) the online generation of the corresponding monitoring model for the present mission trajectory while the system is running. The model takes simultaneously into account the uncertainty of the robot and of the environment through a unified modelling of both. To show the feasibility of the approach we apply it to an intelligent wheelchair (IWC) as a special type of autonomous mobile robot.     

Efficient feature-subset selection with probabilistic distance criteria

This paper considers the problem of finding the best feature subset by exhaustive search, using probabilistic distance measures as criteria. Recursive expressions are derived for efficiently computing the commonly used probabilistic distance measures as a change in the criteria both when a feature is added to and when a feature is deleted from the current feature subset. A combinatorial algorithm is presented for generating all possible r-feature combinations from a given set of S features in $\left(\begin{array}{c}S\\ r\end{array}\right)$ steps with a change of a single feature at each step. These expressions can also be used for both forward and backward sequential feature selection.     

Multilevel threshold selection for image segmentation using soft computing techniques

Multilevel thresholding is the method applied to segment the given image into unique sub-regions when the gray value distribution of the pixels is not distinct. The segmentation results are affected by factors such as number of threshold and threshold values. Hence, this paper proposes different methods for determining optimal thresholds using optimization techniques namely GA, PSO and hybrid model. Parallel algorithms are also proposed and implemented for these methods to reduce the execution time. From the experimental results, it is inferred that proposed methods take less time for determining the optimal thresholds when compared with existing methods such as Otsu and Kapur methods.     

Cloud vendor selection for the healthcare industry using a big data-driven decision model with probabilistic linguistic information

Applied Intelligence - The role of cloud services in the data-intensive industry is indispensable. Cision recently reported that the cloud market would grow to 55 billion USD, with an active...     

Runtime reduction techniques for the probabilistic traveling salesman problem with deadlines

The probabilistic traveling salesman problem with deadlines (PTSPD) is an extension of the well-known probabilistic traveling salesman problem in which, in addition to stochastic presence, customers must also be visited before a known deadline. For realistically sized instances, the problem is impossible to solve exactly, and local-search methods struggle due to the time required to evaluate the objective function. Because computing the deadline violations is the most time consuming part of the objective, we focus on developing approximations for the computation of deadline violations. These approximations can be imbedded in a variety of local-search methods, and we perform experiments comparing their performance using a 1-shift neighborhood. These computational experiments show that the approximation methods lead to significant runtime improvements without loss in quality.     

From insect to Internet: Situated control for networked robot teams

Ant-like systems take advantage of agents' situatedness to reduce or eliminate the need for centralized control or global knowledge. This reduces the need for complexity of individuals and leads to robust, scalable systems. Such insect-inspired situated approaches have proven effective both for task performance and task allocation. The desire for general, principled techniques for situated interaction has led us to study the exploitation of abstract situatedness – situatedness in non-physical environments. The port-arbitrated behavior-based control approach provides a well-structured abstract behavior space in which agents can participate in situated interaction. We focus on the problem of role assumption, distributed task allocation in which each agent selects its own task-performing role. This paper details our general, principled Broadcast of Local Eligibility (BLE) technique for role-assumption in such behavior-space-situated systems, and provides experimental results from the CMOMMT target-tracking task. This revised version was published online in August 2006 with corrections to the Cover Date.     

Two fault detection and isolation schemes for robot manipulators using soft computing techniques

With growing technology, fault detection and isolation (FDI) have become one of the interesting and important research areas in modern control and signal processing. Accomplishment of specific missions like waste treatment in nuclear reactors or data collection in space and underwater missions make reliability more important for robotics and this demand forces researchers to adapt available FDI studies on nonlinear systems to robot manipulators, mobile robots and mobile manipulators.In this study, two model-based FDI schemes for robot manipulators using soft computing techniques, as an integrator of Neural Network (NN) and Fuzzy Logic (FL), are proposed. Both schemes use M-ANFIS for robot modelling. The first scheme isolates faults by passing residual signals through a neural network. The second scheme isolates faults by modelling faulty robot models for defined faults and combining these models as a generalized observers scheme (GOS) structure. Performances of these schemes are tested on a simulated two-link planar manipulator and simulation results and a comparison according to some important FDI specifications are presented.     

Bayesian selection probability estimation for probabilistic Boolean networks

A Bayesian approach to estimate selection probabilities of probabilistic Boolean networks is developed in this study. The concepts of inverse Boolean function and updatable set are introduced to specify states which can be used to update a Bayesian posterior distribution. The analysis on convergence of the posteriors is carried out by exploiting the combination of semi‐tensor product technique and state decomposition algorithm for Markov chain. Finally, some numerical examples demonstrate the proposed estimation algorithm.     

Team member selection decisions for virtual versus face-to-face teams

We compared the importance placed on task skills and four personal characteristics when selecting members of virtual and face-to-face teams. We expected that task skills would be most important in selection decisions for virtual teams due to the lack of physical proximity and visibility, whereas personal characteristics would be more important for face-to-face team selection. In a policy capturing study, 100 undergraduates’ decision policies indicated that task skills had a greater impact on selection decisions for virtual teams. Gender also influenced selection decisions, with women choosing more female than male applicants for both types of teams. Applicants’ race, physical attractiveness, and attitudinal similarity to participants did not influence selection decisions for either type of team; however, when assessed by self-report evaluations, these characteristics and gender, had a greater influence for face-to-face teams.     

Algebraic reasoning for probabilistic action systems and while-loops

Back and von Wright have developed algebraic laws for reasoning about loops in a total correctness framework using the refinement calculus. We extend their work to reasoning about probabilistic loops in the probabilistic refinement calculus. We apply our algebraic reasoning to derive transformation rules for probabilistic action systems and probabilistic while-loops. In particular we focus on developing data refinement rules for these two constructs. Our extension is interesting since some well known transformation rules that are applicable to standard programs are not applicable to probabilistic ones: we identify some of these important differences and we develop alternative rules where possible.