Iterative transfer learning for automatic collective motion tuning on multiple robot platforms.

This paper proposes an iterative transfer learning approach to achieve swarming collective motion in groups of mobile robots. By applying transfer learning, a deep learner capable of recognizing swarming collective motion can use its knowledge to tune stable collective motion behaviors across multiple robot platforms. The transfer learner requires only a small set of initial training data from each robot platform, and this data can be collected from random movements.

Motion behaviour recognition dataset collected from human perception of collective motion behaviour.

Collective motion behaviour such as the movement of swarming bees, flocking birds or schooling fish has inspired computer-based swarming systems. They are widely used in agent formation control, including aerial and ground vehicles, teams of rescue robots, and exploration of dangerous environments with groups of robots. Collective motion behaviour is easy to describe, but highly subjective to detect.

Weighted Gate Layer Autoencoders.

A single dataset could hide a significant number of relationships among its feature set. Learning these relationships simultaneously avoids the time complexity associated with running the learning algorithm for every possible relationship, and affords the learner with an ability to recover missing data and substitute erroneous ones by using available data. In our previous research, we introduced the gate-layer autoencoders (GLAEs), which offer an architecture that enables a single model to approximate multiple relationships simultaneously.

Electroencephalographic Workload Indicators During Teleoperation of an Unmanned Aerial Vehicle Shepherding a Swarm of Unmanned Ground Vehicles in Contested Environments.

Although many electroencephalographic (EEG) indicators have been proposed in the literature, it is unclear which of the power bands and various indices are best as indicators of mental workload. Spectral powers (Theta, Alpha, and Beta) and ratios (Beta/(Alpha + Theta), Theta/Alpha, Theta/Beta) were identified in the literature as prominent indicators of cognitive workload. The aim of the present study is to identify a set of EEG indicators that can be used for the objective assessment of cognitive workload in a multitasking setting and as a foundational step toward a human-autonomy augmented cognition system.

Multimodal Fusion for Objective Assessment of Cognitive Workload: A Review.

Considerable progress has been made in improving the estimation accuracy of cognitive workload using various sensor technologies. However, the overall performance of different algorithms and methods remain suboptimal in real-world applications. Some studies in the literature demonstrate that a single modality is sufficient to estimate cognitive workload.

Toward Computational Motivation for Multi-Agent Systems and Swarms.

Motivation is a crucial part of animal and human mental development, fostering competence, autonomy, and open-ended development. Motivational constructs have proved to be an integral part of explaining human and animal behavior. Computer scientists have proposed various computational models of motivation for artificial agents, with the aim of building artificial agents capable of autonomous goal generation.

Evolving Robust Policy Coverage Sets in Multi-Objective Markov Decision Processes Through Intrinsically Motivated Self-Play.

Many real-world decision-making problems involve multiple conflicting objectives that can not be optimized simultaneously without a compromise. Such problems are known as multi-objective Markov decision processes and they constitute a significant challenge for conventional single-objective reinforcement learning methods, especially when an optimal compromise cannot be determined beforehand. Multi-objective reinforcement learning methods address this challenge by finding an optimal coverage set of non-dominated policies that can satisfy any user's preference in solving the problem.