Multi-agent location system in wireless networks

In this paper we propose a flexible Multi-Agent Architecture together with a methodology for indoor location which allows us to locate any mobile station (MS) such as a Laptop, Smartphone, Tablet or a robotic system in an indoor environment using wireless technology. Our technology is complementary to the GPS location finder as it allows us to locate a mobile system in a specific room on a specific floor using the Wi-Fi networks. The idea is that any MS will have an agent known at a Fuzzy Location Software Agent (FLSA) with a minimum capacity processing at its disposal which collects the power received at different Access Points distributed around the floor and establish its location on a plan of the floor of the building. In order to do so it will have to communicate with the Fuzzy Location Manager Software Agent (FLMSA). The FLMSAs are local agents that form part of the management infrastructure of the Wi-Fi network of the Organization. The FLMSA implements a location estimation methodology divided into three phases (measurement, calibration and estimation) for locating mobile stations (MS). Our solution is a fingerprint-based positioning system that overcomes the problem of the relative effect of doors and walls on signal strength and is independent of the network device manufacturer. In the measurement phase, our system collects received signal strength indicator (RSSI) measurements from multiple access points. In the calibration phase, our system uses these measurements in a normalization process to create a radio map, a database of RSS patterns. Unlike traditional radio map-based methods, our methodology normalizes RSS measurements collected at different locations on a floor. In the third phase, we use Fuzzy Controllers to locate an MS on the plan of the floor of a building. Experimental results demonstrate the accuracy of the proposed method. From these results it is clear that the system is highly likely to be able to locate an MS in a room or adjacent room.

A cooperative multi-agent robotics system: design and modelling

This paper presents the development of the robotic multi-agent system SMART. In this system, the agent concept is applied to both hardware and software entities. Hardware agents are robots, with three and four legs, and an IP-camera that takes images of the scene where the cooperative task is carried out. Hardware agents strongly cooperate with software agents. These latter agents can be classified into image processing, communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, a kind of PetriNet, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system.

Cooperative Learning Model based on Multi-Agent Architecture for Embedded Intelligent Systems

Cooperative systems are suitable for many types of applications and nowadays these system are vastly used to improve a previously defined system or to coordinate multiple devices working together. This paper provides an alternative to improve the reliability of a previous intelligent identification system. The proposed approach implements a cooperative model based on multi-agent architecture. This new system is composed of several radar-based systems which identify a detected object and transmit its own partial result by implementing several agents and by using a wireless network to transfer data. The proposed topology is a centralized architecture where the coordinator device is in charge of providing the final identification result depending on the group behavior. In order to find the final outcome, three different mechanisms are introduced. The simplest one is based on majority voting whereas the others use two different weighting voting procedures, both providing the system with learning capabilities. Using an appropriate network configuration, the success rate can be improved from the initial 80% up to more than 90%.

Multi-UAV Coordination and Control Interface

The interest in missions with multiple Unmanned Aerial Vehicles (UAVs) has increased significantly in last years. These missions take advantage of the use of fleets instead of single UAVs to ensure the success, reduce the duration or increase the goals of the mission. In addition, they allow performing tasks that require multiple agents and certain coordination (e.g. surveillance of large areas or transport of heavy loads). Nevertheless, these missions suppose a challenge in terms of control and monitoring. In fact, the workload of the operators rises with the utilization of multiple UAVs and payloads, since they have to analyze more information, make more decisions and generate more commands during the mission. This work addresses the operator workload problem in multi-UAV missions by reducing and selecting the information. Two approaches are considered: a first one that selects the information according to the mission state, and a second one that selects it according to the operator preferences. The result is an interface that is able to control the amount of information and show what is relevant for mission and operator at the time.

A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition

This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no centralized coordination whose robotic agents share their position estimates. The capability of each agent to navigate avoiding collisions is a consequence of the resulting emergent behavior. Each agent consists of a ground station running an instance of the proposed architecture that communicates over WiFi with an AR Drone 2.0 quadrotor. Visual markers are employed to sense and map obstacles and to improve the pose estimation based on Inertial Measurement Unit (IMU) and ground optical flow data. Based on our architecture, each robotic agent can navigate avoiding obstacles and other members of the multi-robot system. The solution is demonstrated and the achieved navigation performance is evaluated by means of experimental flights. This work also analyzes the capabilities of the presented solution in simulated flights of the IMAV 2013 Indoor Challenge. The performance of the CVG UPM team was awarded with the First Prize in the Indoor Autonomy Challenge of the IMAV 2013 competition.

Multi-responsiveness of single anterior pituitary cells to hypothalamic-releasing hormones: A cellular basis for paradoxical secretion

The classic view for hypothalamic regulation of anterior pituitary (AP) hormone secretion holds that release of each AP hormone is controlled specifically by a corresponding hypothalamic-releasing hormone (HRH). In this scenario, binding of a given HRH (thyrotropin-, growth hormone-, corticotropin-, and luteinizing hormone-releasing hormones) to specific receptors in its target cell increases the concentration of cytosolic Ca2+ ([Ca2+]i), thereby selectively stimulating the release of the appropriate hormone. However, “paradoxical” responses of AP cells to the four well-established HRHs have been observed repeatedly with both in vivo and in vitro systems, raising the possibility of functional overlap between the different AP cell types. To explore this possibility, we evaluated the effects of HRHs on [Ca2+]i in single AP cells identified immunocytochemically by the hormone they stored. We found that each of the five major AP cell types contained discrete subpopulations that were able to respond to several HRHs. The relative abundance of these multi-responsive cells was 59% for lactotropes, 33% for thyrotropes, and in the range of 47–55% for gonadotropes, corticotropes, and somatotropes. Analysis of prolactin release from single living cells revealed that each of the four HRHs tested were able to induce hormone release from a discrete lactotrope subpopulation, the size of which corresponded closely to that in which [Ca2+]i changes were induced by the same secretagogues. When viewed as a whole, our diverse functional measurements of multi-responsiveness suggest that hypothalamic control of pituitary function is more complicated than previously envisioned. Moreover, they provide a cellular basis for the so-called “paradoxical” behavior of pituitary cells to hypothalamic hypophysiotropic agents.

Parallel Computational Intelligence-Based Multi-Camera Surveillance System

In this work, we present a multi-camera surveillance system based on the use of self-organizing neural networks to represent events on video. The system processes several tasks in parallel using GPUs (graphic processor units). It addresses multiple vision tasks at various levels, such as segmentation, representation or characterization, analysis and monitoring of the movement. These features allow the construction of a robust representation of the environment and interpret the behavior of mobile agents in the scene. It is also necessary to integrate the vision module into a global system that operates in a complex environment by receiving images from multiple acquisition devices at video frequency. Offering relevant information to higher level systems, monitoring and making decisions in real time, it must accomplish a set of requirements, such as: time constraints, high availability, robustness, high processing speed and re-configurability. We have built a system able to represent and analyze the motion in video acquired by a multi-camera network and to process multi-source data in parallel on a multi-GPU architecture.

Les pratiques d’intervention policières auprès des personnes en crise ou atteintes de troubles mentaux : le cas des agents de réponse en intervention de crise du Service de police de la Ville de Montréal

Cette recherche porte sur les pratiques d’intervention des agents de réponse en intervention de crise (RIC), de leur partenaire fixe et des agents en attente de la formation du Service de police de la Ville de Montréal (SPVM) auprès des personnes en crise ou atteintes de troubles mentaux. Les agents RIC sont des patrouilleurs de première ligne qui ont reçu une formation complète sur les principes d’intervention en contexte de crise ou de santé mentale. Ce modèle de réponse spécialisée est une solution proactive qui a pour but d’améliorer l’action policière en situation de crise et de veiller à une meilleure prise en charge de ces personnes par les ressources institutionnelles. La désinstitutionnalisation des soins et des services psychiatriques a eu pour effet une augmentation du nombre de personnes atteintes de troubles mentaux dans la communauté. Par conséquent, cet accroissement a engendré des rapports plus fréquents entre les services policiers et cette clientèle. Les interventions en contexte de crise ou de santé mentale sont particulières et complexes, de même qu’elles requièrent un niveau supérieur de compréhension des crises humaines. Les autorités policières ont admis que ces interventions représentent une part significative de leur travail et que la formation policière traditionnelle ne les prépare pas suffisamment pour intervenir adéquatement auprès de cette population. En réponse à ces considérations et dans l’objectif d’améliorer leur capacité d’agir, les forces policières se sont dotées de modèles de réponse policière spécialisée en intervention de crise. L’approche la plus répandue est l’équipe d’intervention de crise (« crisis intervention team » ou « CIT »), aussi appelée le modèle de Memphis. Il existe plusieurs variantes de ce modèle, mais les composantes principales, c’est-à-dire la formation avancée et la consolidation d’un partenariat avec le système de santé demeurent dans l’ensemble de ces structures. L’objectif de cette recherche consiste à sonder les perceptions des agents RIC, de leur partenaire fixe et des agents en attente de la formation afin de comprendre et de contraster leurs visions et leurs pratiques d’intervention en contexte de crise ou de santé mentale. Chaque groupe a apporté des précisions intéressantes. Nous avons conduit 12 entrevues qualitatives avec des policiers du SPVM. De façon générale, les participants rapportent que leurs pratiques d’intervention auprès des personnes en crise ou atteintes de troubles mentaux sont davantage ancrées dans une perspective de relation d’aide. Ils mentionnent également que la communication, l’écoute et la confiance doivent être privilégiées avant tout autre stratégie dans les situations qui les permettent et que la force doit être employée seulement lorsqu’elle est nécessaire, c’est-à-dire lorsque leur sécurité ou celle d’autrui est en péril ou lorsque la communication n’est pas possible. Puis, ils admettent que le recours à l’expertise des intervenants en santé mentale permet une analyse plus approfondie de la situation et de l’état mental de la personne visée par l’intervention. D’autre part, en ce qui concerne les limites de la formation policière traditionnelle, les candidats ont soulevé qu’il y a un manque de connaissances en matière de santé mentale ainsi qu’une difficulté associée à l’évaluation de l’état de la personne et du besoin de transport ont été soulevés. Sur le plan des apprentissages, les agents RIC disent avoir une compréhension plus globale de la problématique de santé mentale, de meilleures habiletés communicationnelles, une analyse plus approfondie de la situation, de plus grandes connaissances juridiques, une compréhension du fonctionnement des services hospitaliers ainsi qu’une appréciation particulière pour le partage de savoirs et les principes d’endiguement. Ils font part également de l’importance des rapports pour documenter l’évolution de l’état mental d’une personne et ils ajoutent que la dimension temporelle joue un rôle clé dans la résolution définitive de la problématique. Au sujet des partenaires, ils évoquent des retombées similaires. Toutefois, à la suite de la formation, ils reconnaissent davantage l’importance de leur rôle dans la sécurité de leur partenaire et ils y accordent dorénavant une attention marquée lors de ces interventions. Enfin, les agents non formés formulent des attentes relatives au développement d’outils et de compétences, ce qui leur sera rendu dans la formation RIC. Globalement, les agents RIC et les partenaires interviewés ont modifié leurs pratiques pour les arrimer avec la philosophie des interventions en contexte de crise ou de santé mentale. Ils ont également davantage confiance en leurs capacités et habiletés d’intervention auprès des personnes en crise ou atteintes de troubles mentaux grâce aux connaissances acquises dans la formation.

Les pratiques d’intervention policières auprès des personnes en crise ou atteintes de troubles mentaux : le cas des agents de réponse en intervention de crise du Service de police de la Ville de Montréal

Cette recherche porte sur les pratiques d’intervention des agents de réponse en intervention de crise (RIC), de leur partenaire fixe et des agents en attente de la formation du Service de police de la Ville de Montréal (SPVM) auprès des personnes en crise ou atteintes de troubles mentaux. Les agents RIC sont des patrouilleurs de première ligne qui ont reçu une formation complète sur les principes d’intervention en contexte de crise ou de santé mentale. Ce modèle de réponse spécialisée est une solution proactive qui a pour but d’améliorer l’action policière en situation de crise et de veiller à une meilleure prise en charge de ces personnes par les ressources institutionnelles. La désinstitutionnalisation des soins et des services psychiatriques a eu pour effet une augmentation du nombre de personnes atteintes de troubles mentaux dans la communauté. Par conséquent, cet accroissement a engendré des rapports plus fréquents entre les services policiers et cette clientèle. Les interventions en contexte de crise ou de santé mentale sont particulières et complexes, de même qu’elles requièrent un niveau supérieur de compréhension des crises humaines. Les autorités policières ont admis que ces interventions représentent une part significative de leur travail et que la formation policière traditionnelle ne les prépare pas suffisamment pour intervenir adéquatement auprès de cette population. En réponse à ces considérations et dans l’objectif d’améliorer leur capacité d’agir, les forces policières se sont dotées de modèles de réponse policière spécialisée en intervention de crise. L’approche la plus répandue est l’équipe d’intervention de crise (« crisis intervention team » ou « CIT »), aussi appelée le modèle de Memphis. Il existe plusieurs variantes de ce modèle, mais les composantes principales, c’est-à-dire la formation avancée et la consolidation d’un partenariat avec le système de santé demeurent dans l’ensemble de ces structures. L’objectif de cette recherche consiste à sonder les perceptions des agents RIC, de leur partenaire fixe et des agents en attente de la formation afin de comprendre et de contraster leurs visions et leurs pratiques d’intervention en contexte de crise ou de santé mentale. Chaque groupe a apporté des précisions intéressantes. Nous avons conduit 12 entrevues qualitatives avec des policiers du SPVM. De façon générale, les participants rapportent que leurs pratiques d’intervention auprès des personnes en crise ou atteintes de troubles mentaux sont davantage ancrées dans une perspective de relation d’aide. Ils mentionnent également que la communication, l’écoute et la confiance doivent être privilégiées avant tout autre stratégie dans les situations qui les permettent et que la force doit être employée seulement lorsqu’elle est nécessaire, c’est-à-dire lorsque leur sécurité ou celle d’autrui est en péril ou lorsque la communication n’est pas possible. Puis, ils admettent que le recours à l’expertise des intervenants en santé mentale permet une analyse plus approfondie de la situation et de l’état mental de la personne visée par l’intervention. D’autre part, en ce qui concerne les limites de la formation policière traditionnelle, les candidats ont soulevé qu’il y a un manque de connaissances en matière de santé mentale ainsi qu’une difficulté associée à l’évaluation de l’état de la personne et du besoin de transport ont été soulevés. Sur le plan des apprentissages, les agents RIC disent avoir une compréhension plus globale de la problématique de santé mentale, de meilleures habiletés communicationnelles, une analyse plus approfondie de la situation, de plus grandes connaissances juridiques, une compréhension du fonctionnement des services hospitaliers ainsi qu’une appréciation particulière pour le partage de savoirs et les principes d’endiguement. Ils font part également de l’importance des rapports pour documenter l’évolution de l’état mental d’une personne et ils ajoutent que la dimension temporelle joue un rôle clé dans la résolution définitive de la problématique. Au sujet des partenaires, ils évoquent des retombées similaires. Toutefois, à la suite de la formation, ils reconnaissent davantage l’importance de leur rôle dans la sécurité de leur partenaire et ils y accordent dorénavant une attention marquée lors de ces interventions. Enfin, les agents non formés formulent des attentes relatives au développement d’outils et de compétences, ce qui leur sera rendu dans la formation RIC. Globalement, les agents RIC et les partenaires interviewés ont modifié leurs pratiques pour les arrimer avec la philosophie des interventions en contexte de crise ou de santé mentale. Ils ont également davantage confiance en leurs capacités et habiletés d’intervention auprès des personnes en crise ou atteintes de troubles mentaux grâce aux connaissances acquises dans la formation.

Long-term persistence of multi-drug-resistant Salmonella enterica serovar Newport in two dairy herds

Objective - To evaluate the association between maintaining joint hospital and maternity pens;and persistence of multi-drug-resistant (MDR) Salmonella enterica serovar Newport on 2 dairy farms. Design - Observational study. Sample Population - Feces and environmental samples from 2 dairy herds. Procedure - Herds were monitored for fecal shedding of S enterica Newport after outbreaks of clinical disease. Fecal and environmental samples were collected approximately monthly from pens housing sick cows and calving cows and from pens containing lactating cows. Cattle shedding the organism were tested serially on subsequent visits to determine carrier status. One farm was resampled after initiation of interventional procedures, including separation of hospital and maternity pens. Isolates were characterized via serotyping, determination of antimicrobial resistance phenotype, detection of the CMY-2 gene, and DNA fingerprinting. Results - The prevalence (32.4% and 33.3% on farms A and B, respectively) of isolating Salmonella from samples from joint hospital-maternity pens was significantly higher than the prevalence in samples from pens housing preparturient cows (0.8%, both farms) and postparturient cows on Farm B (8.8%). Multi-drug-resistant Salmonella Newport was isolated in high numbers from bedding material, feed refusals, lagoon slurry, and milk filters. One cow excreted the organism for 190 days. Interventional procedures yielded significant reductions in the prevalences of isolating the organism from fecal and environmental samples. Most isolates were of the C2 serogroup and were resistant to third-generation cephalosporins. Conclusions and Clinical Relevance - Management practices may be effective at reducing the persistence of MDR Salmonella spp in dairy herds, thus mitigating animal and public health risk.

Multi-robot control in highly dynamic, competitive environments

The control and coordination of multiple mobile robots is a challenging task; particularly in environments with multiple, rapidly moving obstacles and agents. This paper describes a robust approach to multi-robot control, where robustness is gained from competency at every layer of robot control. The layers are: (i) a central coordination system (MAPS), (ii) an action system (AES), (iii) a navigation module, and (iv) a low level dynamic motion control system. The multi-robot coordination system assigns each robot a role and a sub-goal. Each robot’s action execution system then assumes the assigned role and attempts to achieve the specified sub-goal. The robot’s navigation system directs the robot to specific goal locations while ensuring that the robot avoids any obstacles. The motion system maps the heading and speed information from the navigation system to force-constrained motion. This multi-robot system has been extensively tested and applied in the robot soccer domain using both centralized and distributed coordination.

Belief revision for adaptive negotiation agents

Existing negotiation agents are primitive in terms of what they can learn and how responsive they are towards the changing negotiation contexts. These weaknesses can be alleviated if an expressive representation language is used to represent negotiation contexts and a sound inference mechanism is applied to reason about the preferential changes arising in these negotiation contexts. This paper illustrates a novel adaptive negotiation agent model, which is underpinned by the well-known AGM belief revision logic. Our preliminary experiments show that the performance of the belief-based adaptive negotiation agents is promising.

Achieving cooperation in a distributed multi-robot team

DMAPS (Distributed Multi-Agent Planning System) is a planning system developed for distributed multi-robot teams based on MAPS(Multi-Agent Planning System). MAPS assumes that each agent has the same global view of the environment in order to determine the most suitable actions. This assumption fails when perception is local to the agents: each agent has only a partial and unique view of the environment. DMAPS addresses this problem by creating a probabilistic global view on each agent by fusing the perceptual information from each robot. The experimental results on consuming tasks show that while the probabilistic global view is not identical on each robot, the shared view is still effective in increasing performance of the team.

A multi-agent system using iterative bidding mechanism to enhance manufacturing agility

The global market has become increasingly dynamic, unpredictable and customer-driven. This has led to rising rates of new product introduction and turbulent demand patterns across product mixes. As a result, manufacturing enterprises were facing mounting challenges to be agile and responsive to cope with market changes, so as to achieve the competitiveness of producing and delivering products to the market timely and cost-effectively. This paper introduces a currency-based iterative agent bidding mechanism to effectively and cost-efficiently integrate the activities associated with production planning and control, so as to achieve an optimised process plan and schedule. The aim is to enhance the agility of manufacturing systems to accommodate dynamic changes in the market and production. The iterative bidding mechanism is executed based on currency-like metrics; each operation to be performed is assigned with a virtual currency value and agents bid for the operation if they make a virtual profit based on this value. These currency values are optimised iteratively and so does the bidding process based on new sets of values. This is aimed at obtaining better and better production plans, leading to near-optimality. A genetic algorithm is proposed to optimise the currency values at each iteration. In this paper, the implementation of the mechanism and the test case simulation results are also discussed. © 2012 Elsevier Ltd. All rights reserved.