Roball, the Rolling Robot

Designing a mobile robotic toy is challenging work. The robot must be appealing to children and create interesting interactions while facing the wide variety of situations that can be experienced while playing with a child, and all at a reasonable cost. In this paper we present Roball, a ball-shaped robot that moves by making its external spherical shell rotate. Such design for a mobile robotic toy shows robustness in handling unstructured environments and unconstrained interactions with children. Results show that purposeful movements of the robot, its physical structure and locomotion dynamics generate interesting new games influenced by the environment and the child.     

Fuzzy moves using normal fuzzy reasoning with fuzzy knowledge discovery

By merging the theory of moves (TOM) and the fuzzy sets theory, we have developed the theory of fuzzy moves (TFM) to make better fuzzy moves for fuzzy games. Since the data granularity of conventionally used fuzzy sets is too low to contain more heuristic information and mined knowledge, we take primary fuzzy sets with higher data granularity as fundamental elements for fuzzy reasoning so as to make more reasonable moves. The simulation results indicate that (1) TFM with normal fuzzy reasoning can make better and more reasonable moves than TOM with precise reasoning since different global strategies are taken into account by TFM and (2) the novel fuzzy reasoning methodology is more reasonable and more useful to make fuzzy moves than the conventional one. ©1999 John Wiley & Sons, Inc.     

Measuring and analyzing agents’ uncertainty in argumentation-based negotiation dialogue games

Nowadays, multiagent systems have become a widely used technology in everyday life, and many authors have adopted the view of communication or interaction between agents as a joint activity regulated by means of dialogue games. Dialogue games are a set of communication rules that agents can combine in their complex interactions. In these games, uncertainty is an important problem that each agent faces when making decisions, especially in the absence of enough information. This paper focuses on the uncertainty in a particular type of dialogue games, namely argumentation-based negotiation. There exist several proposals on this type of dialogue games in the literature, and most of them are concerned with proposing protocols to show how agents can communicate with each other, and how arguments and offers can be generated, evaluated and exchanged. Nevertheless, none of them is directly targeting the agents’ uncertainty about the exchanged arguments and how this uncertainty could be measured at each dialogue step to assist those agents make better decisions. The aim of this paper is to tackle this problem by defining a new set of uncertainty measures in negotiation dialogue games from an external agent’s point of view. In particular, we introduce two types of uncertainty: Type I and Type II. Type I is about the uncertainty index of playing the right move. For this, we use Shannon entropy to measure: (i) the uncertainty index of the agent that he is selecting the right move at each dialogue step; and (ii) the uncertainty index of participating agents in the negotiation about the whole dialogue. This is done in two different ways; the first is by taking the average of the uncertainty index of all moves, and the second is by determining all possible dialogues and applying the general formula of Shannon entropy. Type II is about the uncertainty degree of the agent that the move will be accepted by the addressee. In this context, we introduce a new classification for the arguments based on their certainty to be accepted by the addressee.     

The Quantum Ultimatum Game

A quantum version of the ultimatum game is studied. Both a restricted version with classical moves and the unitary version are considered. With entangled initial states, Nash equilibria in quantum games are in general different from those of classical games. Quantum versions might therefore be useful as a framework for modeling deviations from classical Nash equilibrium in experimental games.PACS:02.50.Le; 03.67.-a     

Teaching a pet-robot to understand user feedback through interactive virtual training tasks

In this paper, we present a human-robot teaching framework that uses “virtual” games as a means for adapting a robot to its user through natural interaction in a controlled environment. We present an experimental study in which participants instruct an AIBO pet robot while playing different games together on a computer generated playfield. By playing the games and receiving instruction and feedback from its user, the robot learns to understand the user’s typical way of giving multimodal positive and negative feedback. The games are designed in such a way that the robot can reliably predict positive or negative feedback based on the game state and explore its user’s reward behavior by making good or bad moves. We implemented a two-staged learning method combining Hidden Markov Models and a mathematical model of classical conditioning to learn how to discriminate between positive and negative feedback. The system combines multimodal speech and touch input for reliable recognition. After finishing the training, the system was able to recognize positive and negative reward with an average accuracy of 90.33%.     

Using argumentation to model agent decision making in economic experiments

In this paper we demonstrate how a qualitative framework for decision making can be used to model scenarios from experimental economic studies and we show how our approach explains the results that have been reported from such studies. Our framework is an argumentation-based one in which the social values promoted or demoted by alternative action options are explicitly represented. Our particular representation is used to model the Dictator Game and the Ultimatum Game, which are simple interactions in which it must be decided how a sum of money will be divided between the players in the games. Studies have been conducted into how humans act in such games and the results are not explained by a decision-model that assumes that the participants are purely self-interested utility-maximisers. Some studies further suggest that differences in choices made in different cultures may reflect their day to day behaviour, which can in turn be related to the values of the subjects, and how they order their values. In this paper we show how these interactions can be modelled in agent systems in a framework that makes explicit the reasons for the agents’ choices based upon their social values. Our framework is intended for use in situations where agents are required to be adaptable, for example, where agents may prefer different outcome states in transactions involving different types of counter-parties.     

The graph model for conflicts

The graph model for conflicts is developed as a comprehensive methodology for realistically analyzing real world conflicts. The graph form takes outcomes, rather than individual decisions, as the basic units for describing a conflict. In the graph form, many solution concepts can be formulated for both two-player and multiplayer games. In particular, specific mathematical criteria are presented for categorizing solution concepts which can be used for predicting equilibria in n-player games. One of the criteria on which this taxonomy of solution concepts is based is the number of steps ahead a player may think, in terms of the reactions of other players to his actions. Other criteria include which players take part in the sanctioning process, and whether sanctioning moves are restricted to those which lead to immediate improvements for the mover. In order to demonstrate the insight which decision makers can gain from studying a dispute using the graph model, various solution concepts are applied to an important environmental engineering problem.     

基于三角犹豫Einstein算法的多属性决策模型

针对属性信息为三角犹豫模糊信息的多属性决策问题,结合Einstein运算,构建了一种基于三角犹豫模糊Einstein集成算法的多属性决策方法。首先,考虑到决策信息为三角犹豫模糊数且属性间存在一定的内在联系,基于三角犹豫模糊数的运算法则,提出了三角犹豫模糊Einstein加权平均（THFEWA）算子和三角犹豫模糊Einstein加权几何（THFEWG）算子;其次,针对三角犹豫模糊元的有序位置存在具有不同权重的情况,构建了三角犹豫模糊Einstein有序加权平均（THFEOWA）算子和三角犹豫模糊Einstein有序加权几何（THFEOWG）算子,并讨论了它们相应的基本性质;最后建立了基于THFEOWA算子和THFEOWG算子的多属性决策模型,并通过实例说明提出的决策模型是合理和有效的。     

A game model based on multi‐attribute aggregation

In practical decision making problems, whether an alternative (strategy) of a decision maker is good or not relies on not only influences of its natural characters and external environment but also interactions with the decision maker's rivals. Thus for the sake of more accurate and actual assessments, in this paper we analyze alternatives (strategies) quantitatively based on both multi‐attribute decision making methods and game theory. A multi‐attribute aggregation based game model is then constructed. For general games, we first divide strategies into four forms after investigating the traits of practical game problems, and analyze relationships of these forms of strategies. Then four classifications of general game problems are presented according to the differences of strategies involved. Based on the game model, general methods to solve these four classifications of games are put forward, and relevant examples are taken to illustrate the flexibility of the methods. Moreover, we investigate the methods for solving multicriteria games, and finally extend them to general forms on the basis of the game model. © 2011 Wiley Periodicals, Inc.     

Cooperative Control and Potential Games

We present a view of cooperative control using the language of learning in games. We review the game-theoretic concepts of potential and weakly acyclic games, and demonstrate how several cooperative control problems, such as consensus and dynamic sensor coverage, can be formulated in these settings. Motivated by this connection, we build upon game-theoretic concepts to better accommodate a broader class of cooperative control problems. In particular, we extend existing learning algorithms to accommodate restricted action sets caused by the limitations of agent capabilities and group based decision making. Furthermore, we also introduce a new class of games called sometimes weakly acyclic games for time-varying objective functions and action sets, and provide distributed algorithms for convergence to an equilibrium.     

一种采用图象识别的射击竞赛自动判靶系统

本文给出了一种新的利用计算机进行图象识别的射击运动自动判靶和成绩管理系统。该系统采用了图象处理和模式识别的方法进行弹孔环值的自动计算,并通过换靶纸机的机械装置实现靶纸自动替换,而多靶位的成绩自动统计和排名是通过一个局域网实现的。该系统对传统的人工判靶方法进行了彻底的技术改造,在公正性、可靠性、精度、快速
速方便及成本诸方面比传统方法有更大的优势,对提高射击训练水平、提高射击竞赛管理的自动化程度以及比赛观赏性有重要意义。     

基于智能优化算法的Pendubot轨迹规划与控制方法设计

以垂直Pendubot为研究对象,提出一种基于智能优化算法的轨迹规划与控制方法,以解决Pendubot控制过程中难以从摇起区过渡至平衡区的问题.为Pendubot的驱动连杆规划一条从初始角度到中间角度的正向轨迹和一条从中间角度到目标角度的反向轨迹.欠驱动连杆在系统耦合关系作用下进行运动,对应的Pendubot末端点也运动至相应位置.通过遗传算法优化轨迹参数,将正向和反向轨迹拼合为一条由初始角度到目标角度的驱动连杆轨迹的同时,对应的Pendubot末端点轨迹拼合为一条由垂直向下平衡位置到垂直向上平衡位置的完整轨迹,然后设计跟踪控制器跟踪优化后的驱动连杆轨迹至目标角度,由于耦合关系的存在,Pendubot末端点也运动至垂直向上平衡位置.由于Pendubot受重力作用,其末端点很难长时间稳定在垂直向上平衡位置,故设计镇定控制器,实现Pendubot末端点在垂直向上平衡位置的镇定控制.最后通过仿真实验验证所提出方法的有效性,并通过对比说明所提出方法在奇异点规避、控制器设计和控制效果方面的优势.     

Intuitionistic fuzzy Choquet integral operator for multi-criteria decision making

For the real decision making problems, most criteria have inter-dependent or interactive characteristics so that it is not suitable for us to aggregate them by traditional aggregation operators based on additive measures. Thus, to approximate the human subjective decision making process, it would be more suitable to apply fuzzy measures, where it is not necessary to assume additivity and independence among decision making criteria. In this paper, an intuitionistic fuzzy Choquet integral is proposed for multiple criteria decision making, where interactions phenomena among the decision making criteria are considered. First, we introduced two operational laws on intuitionistic fuzzy values. Then, based on these operational laws, intuitionistic fuzzy Choquet integral operator is proposed. Moreover, some of its properties are investigated. It is shown that the intuitionistic fuzzy Choquet integral operator can be represented by some special t-norms and t-conorms, and it is also a generalization of the intuitionistic fuzzy OWA operator and intuitionistic fuzzy weighted averaging operator. Further, the procedure and algorithm of multi-criteria decision making based on intuitionistic fuzzy Choquet integral operator is given under uncertain environment. Finally, a practical example is provided to illustrate the developed approaches.     

基于Zhenyuan积分的直觉模糊多属性决策方法

针对属性之间具有相互关联关系的直觉模糊多属性决策问题,提出一种基于Zhenyuan积分的决策方法.首先提出直觉模糊Zhenyuan积分平均(IFZA)算子;然后探讨IFZA算子的优良性质以及与现有直觉模糊集成算子的关系,研究表明,IFZA算子可以改进现有直觉模糊奇异积分算子的缺陷,能够全面度量属性之间的相互关联关系;最后提出一种基于IFZA算子的属性间具有相互关联关系的直觉模糊多属性决策方法,并通过实例验证所提出方法的有效性和可行性.     

A PLANNING APPROACH TO DECLARER PLAY IN CONTRACT BRIDGE

Although game-tree search works well in perfect-information games, it is less suitable for imperfect-information games such as contract bridge. The lack of knowledge about the opponents' possible moves gives the game tree a very large branching factor, making it impossible to search a significant portion of this tree in a reasonable amount of time.
This paper describes our approach for overcoming this problem. We represent information about bridge in a task network extended to represent multi-agency and uncertainty. Our game-playing procedure uses this task network to generate game trees in which the set of alternative choices is determined not by the set of possible actions, but by the set of available tactical and strategic schemes.
We have tested this approach on declarer play in the game of bridge, in an implementation called Tignum 2. On 5000 randomly generated notrump deals, Tignum 2 beat the strongest commercially available program by 1394 to 1302, with 2304 ties. These results are statistically significant at the α= 0.05 level. Tignum 2 searched an average of only 8745.6 moves per deal in an average time of only 27.5 seconds per deal on a Sun SPARCstation 10. Further enhancements to Tignum 2 are currently underway.     

Games That Agents Play: A Formal Framework for Dialogues between Autonomous Agents

We present a logic-based formalism for modeling ofdialogues between intelligent and autonomous software agents,building on a theory of abstract dialogue games which we present.The formalism enables representation of complex dialogues assequences of moves in a combination of dialogue games, and allowsdialogues to be embedded inside one another. The formalism iscomputational and its modular nature enables different types ofdialogues to be represented.     

Learning through artifacts: Communities of practice in classrooms

One of the central issues is how the computer can enter in the learning process. A considerable amount of research has examined how children’s interactions and learning with computational artifacts are situated. A different approach focuses on the learning through computational artifacts: what can and do children learn when making a computational artifact? This paper studies the experience of elementary-school students making computer games to teach fractions to younger students. The analysis addresses how the social interactions and the artifact constructions situated students’ learning experience. The discussion examines the relationships between designing and learning from a situated learning perspective.     

Learning automata based multi‐agent system algorithms for finding optimal policies in Markov games

Markov games, as the generalization of Markov decision processes to the multi‐agent case, have long been used for modeling multi‐agent systems (MAS). The Markov game view of MAS is considered as a sequence of games having to be played by multiple players while each game belongs to a different state of the environment. In this paper, several learning automata based multi‐agent system algorithms for finding optimal policies in Markov games are proposed. In all of the proposed algorithms, each agent residing in every state of the environment is equipped with a learning automaton. Every joint‐action of the set of learning automata in each state corresponds to moving to one of the adjacent states. Each agent moves from one state to another and tries to reach the goal state. The actions taken by learning automata along the path traversed by the agent are then rewarded or penalized based on the comparison of the average reward received by agent per move along the path with a dynamic threshold. In the second group of the proposed algorithms, the concept of entropy has been imported into learning automata based multi‐agent systems to improve the performance of the algorithms. To evaluate the performance of the proposed algorithms, computer experiments have been conducted. The results of experiments have shown that the proposed algorithms perform better than the existing algorithms in terms of speed and accuracy of reaching the optimal policy. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Generalized intuitionistic fuzzy geometric aggregation operator and its application to multi-criteria group decision making

In general, for multi-criteria group decision making problem, there exist inter-dependent or interactive phenomena among criteria or preference of experts, so that it is not suitable for us to aggregate them by conventional aggregation operators based on additive measures. In this paper, based on fuzzy measures a generalized intuitionistic fuzzy geometric aggregation operator is investigated for multiple criteria group decision making. First, some operational laws on intuitionistic fuzzy values are introduced. Then, a generalized intuitionistic fuzzy ordered geometric averaging (GIFOGA) operator is proposed. Moreover, some of its properties are given in detail. It is shown that GIFOGA operator can be represented by special t-norms and t-conorms and is a generalization of intuitionistic fuzzy ordered weighted geometric averaging operator. Further, an approach to multiple criteria group decision making with intuitionistic fuzzy information is developed where what criteria and preference of experts often have inter-dependent or interactive phenomena among criteria or preference of experts is taken into account. Finally, a practical example is provided to illustrate the developed approaches.