Cooperative Systems Research Papers - Academia.edu (original) (raw)

A comprehensive approach to the design and implementation of multi-robots cooperative systems is described. It focuses on a design process that uses the Unified Modeling Language and on a detailed ontology description with the goal of... more

A comprehensive approach to the design and implementation of multi-robots cooperative systems is described. It focuses on a design process that uses the Unified Modeling Language and on a detailed ontology description with the goal of sharing the knowledge on environments that robots can acquire through the use of their vision sub-system. We base the implementation of our robotics vision system on agents inserted in a generic multi-level architectures. The first objective of this work is to provide a framework ...

This letter offers a statistical analysis of the basic two-hop Amplify-and-Forward link, where the relay node is selected based on instantaneous and partial knowledge of the channel. In contrast with previously reported work, where relay... more

This letter offers a statistical analysis of the basic two-hop Amplify-and-Forward link, where the relay node is selected based on instantaneous and partial knowledge of the channel. In contrast with previously reported work, where relay selection requires global knowledge (2 hops) of the relaying link, the problem considered is interesting in practical ad-hoc systems, where only neighboring (1 hop) channel information is available to the nodes. The probability density function of the received signal-to-noise ratio for the considered relaying link is approximated in closed form, and an asymptotic exponential expression is proposed to simplify performance estimation.

This work is about the use of artificial intelligence (AI) planning techniques to automatically configure a group of cooperating robots. In particular, we study societies of autonomous robotic systems in which robots can help each other... more

This work is about the use of artificial intelligence (AI) planning techniques to automatically configure a group of cooperating robots. In particular, we study societies of autonomous robotic systems in which robots can help each other by offering information-producing resources and functionalities. A configuration in our societies is a way to allocate and connect functionalities among robots. In general, different

We argue that cooperation is an essential characteristic of life, and that matter is living when it occupies the intersection of lineage and metabolism. By conceiving of metabolism as a cooperative process performed by functional wholes,... more

We argue that cooperation is an essential characteristic of life, and that matter is living when it occupies the intersection of lineage and metabolism. By conceiving of metabolism as a cooperative process performed by functional wholes, and these functional wholes as associations of a variety of lineage) forming entities, we do away with the standard tension in discussions of life

This paper presents and analyzes a new Cooperative Intelligent Transportation System based on a simple concept: the use of information coming from the network of internet connected mobile devices to regulate traffic light systems. The new... more

This paper presents and analyzes a new Cooperative Intelligent Transportation System based on a simple concept: the use of information coming from the network of internet connected mobile devices to regulate traffic light systems. The new idea explored in this paper is a traffic light system with green cycles actuated by the information coming from mobile phone vehicle probes that would allow: 1) regulating traffic lights or offering information to drivers taking advantage of Floating Car Data (FCD); 2) convincing drivers to accept this system as beneficial and adopt it promptly and voluntarily becoming part of a successful cooperative system. The idea presented in this paper is conceptually very simple: drivers interested in the service would install a mobile phone application on mobile devices with GNSS capabilities (such as GPS or Galileo system). This would allow the traffic light regulation system to know the position of subscribers and regulate traffic lights according to this. The fast and successful launch of the system would be guaranteed by the fact that, in the launch phase, the first drivers using the system would be given green priority on other drivers.

The combination of the compactness of networks, featuring small diameters, and their complex architectures results in a variety of critical effects dramatically different from those in cooperative systems on lattices. In the last few... more

The combination of the compactness of networks, featuring small diameters, and their complex architectures results in a variety of critical effects dramatically different from those in cooperative systems on lattices. In the last few years, researchers have made important steps toward understanding the qualitatively new critical phenomena in complex networks. We review the results, concepts, and methods of this rapidly developing field. Here we mostly consider two closely related classes of these critical phenomena, namely structural phase transitions in the network architectures and transitions in cooperative models on networks as substrates. We also discuss systems where a network and interacting agents on it influence each other. We overview a wide range of critical phenomena in equilibrium and growing networks including the birth of the giant connected component, percolation, k-core percolation, phenomena near epidemic thresholds, condensation transitions, critical phenomena in spin models placed on networks, synchronization, and self-organized criticality effects in interacting systems on networks. We also discuss strong finite size effects in these systems and highlight open problems and perspectives.

This paper presents a study of the economic organization of systems of financial cooperatives (FC). The first part presents a theoretical framework rooted in principles of transaction cost economics (TCE) that seeks to explain empirical... more

This paper presents a study of the economic organization of systems of financial cooperatives (FC). The first part presents a theoretical framework rooted in principles of transaction cost economics (TCE) that seeks to explain empirical regularities observable in systems of FC worldwide. The second part is an empirical study that compares the Quebec Desjardins movement,(DM) and the Ontario Credit

The work presented here considers mainly territorial intelligence as a cooperative system in support of public decision-making. The paper is organised in three parts, each of them presenting a particular stage of our approach. A first... more

The work presented here considers mainly territorial intelligence as a cooperative system in support of public decision-making. The paper is organised in three parts, each of them presenting a particular stage of our approach. A first stage is dedicated to the analysis of the knowledge that can be identified (or re-constructed) on the basis of the texts issued by the

The convergence of the tendencies evolving on the technology and education realm is representing by the fusion of the activities implied in knowledge management, learning and performance. The subject of our work is to design a system that... more

The convergence of the tendencies evolving on the technology and education realm is representing by the fusion of the activities implied in knowledge management, learning and performance. The subject of our work is to design a system that allows groups to collaborate over computer networks. Our implemented pilot system is an e-learning collaborative tool for assisting stakeholders in project management activities. Diverse usage scenarios of the system are also depicted. The functional software modules are: virtual meeting forum, classifier and organizer texts module, social proxy module, retrieving information service module, user profile module and sharing files module. The social proxy module has the role of mutual awareness and responsibility. Software modules integration in the collaborative learning system is facilitated by the XML technology. Designing our pilot cooperative e-learning system takes into account the flexibility and scalability features of the knowledge managemen...

Advanced information retrieval and database management systems employ a variety of elaborate data representation, indexing and retrieval techniques, but usually apply less elaborate - often simplistic - models of the human-computer... more

Advanced information retrieval and database management systems employ a variety of elaborate data representation, indexing and retrieval techniques, but usually apply less elaborate - often simplistic - models of the human-computer interaction. Effective interaction, however, is essential for effective information retrieval. To be able to assist and guide the user actively through the entire information-seeking process a cooperative system must

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to... more

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way

With the identification of cooperative vehicular communication as an encouraging solution to real time traffic management problems , there has been efforts in evaluating more efficient communication technologies and applications. Field... more

With the identification of cooperative vehicular communication as an encouraging solution to real time traffic management problems , there has been efforts in evaluating more efficient communication technologies and applications. Field operational tests (FOTs) exist and provide precise evaluation tools but they have limitations. It is impractical to imagine evaluation of large scale city like scenarios with thousands of vehicles by conducting FOTs. This converges to the need of large scale advanced simulation platforms. This paper in context of the ongoing EU project iTETRIS, addresses issues concerning realization of a large scale integrated traffic and communication simulation platform within realistic traffic scenarios with objectives of evaluating different management strategies. Further, the paper aims to demonstrate the design methodology of iTETRIS integrated vehicular traffic management simulation platform with regards to achieving its goals in terms of its scalability requi...

This chapter reports the latest results of an attempt made in Sri Lanka to develop a humananimal-robot integrated system to detect anti-personal landmines. In this study, a mongoose was trained to sniff for landmines. It was attached to a... more

This chapter reports the latest results of an attempt made in Sri Lanka to develop a humananimal-robot integrated system to detect anti-personal landmines. In this study, a mongoose was trained to sniff for landmines. It was attached to a semi-autonomous legged mobile robot. The robot could sense the direction of movement of the mongoose. The robot used this direction information along with commands sent by a remote human operator to modify its own semi-autonomous behaviors. The human operator gave overall commands ...

In the past research has been done on cooperative systems resulting in, among others, the CALM architecture which is used in NextGenITS. The project focuses on the scalability issues of routing protocols and energy optimizations for... more

In the past research has been done on cooperative systems resulting in, among others, the CALM architecture which is used in NextGenITS. The project focuses on the scalability issues of routing protocols and energy optimizations for cooperative vehicular ad hoc network (VANET) ...

Much emphasis in multiagent reinforcement learning (MARL) research is placed on ensuring that MARL algorithms (eventually) converge to desirable equilibria. As in standard reinforcement learning, convergence generally requires sufficient... more

Much emphasis in multiagent reinforcement learning (MARL) research is placed on ensuring that MARL algorithms (eventually) converge to desirable equilibria. As in standard reinforcement learning, convergence generally requires sufficient exploration of strategy space. However, exploration often comes at a price in the form of penalties or foregone opportunities. In multiagent settings, the problem is exacerbated by the need for agents to ``coordinate'' their policies on equilibria. We propose a Bayesian model for optimal exploration in MARL problems that allows these exploration costs to be weighed against their expected benefits using the notion of value of information. Unlike standard RL models, this model requires reasoning about how one's actions will influence the behavior of other agents. We develop tractable approximations to optimal Bayesian exploration, and report on experiments illustrating the benefits of this approach in identical interest games.

In this paper, an analytical approach for evaluating performance of dual-hop cooperative link over shadowed Ricean fading channels is presented. New lower bound expressions for the probability density function (PDF), cumulative... more

In this paper, an analytical approach for evaluating performance of dual-hop cooperative link over shadowed Ricean fading channels is presented. New lower bound expressions for the probability density function (PDF), cumulative distribution function (CDF) and average bit error probability (ABEP) for system with channel state information (CSI) relay are derived. Some numerical results are presented to show behavior of performance gain for the proposed system. Analytical exact and lower bound expression for the outage probability (OP) of CSI assisted relay are obtained and required numerical results are compared.