Decentralized multi-tasks distribution in heterogeneous robot teams by means of ant colony optimization and learning automata

This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-election of heterogeneous specialized tasks by autonomous robots. In this paper we focus on a specifically distributed or decentralized approach as we are particularly interested on decentralized solution where the robots themselves autonomously and in an individual manner, are responsible of selecting a particular task so that all the existing tasks are optimally distributed and executed. In this regard, we have established an experimental scenario to solve the corresponding multi-tasks distribution problem and we propose a solution using two different approaches by applying Ant Colony Optimization-based deterministic algorithms as well as Learning Automata-based probabilistic algorithms. We have evaluated the robustness of the algorithm, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems

This paper focuses on the general problem of coordinating of multi-robot systems, more specifically, it addresses the self-election of heterogeneous and specialized tasks by autonomous robots. In this regard, it has proposed experimenting with two different techniques based chiefly on selforganization and emergence biologically inspired, by applying response threshold models as well as ant colony optimization. Under this approach it can speak of multi-tasks selection instead of multi-tasks allocation, that means, as the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. It has evaluated the robustness of the algorithms, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Response threshold models and stochastic learning automata for self-coordination of heterogeneous multi-task distribution in multi-robot systems.

This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-selection of heterogeneous specialized tasks by autonomous robots. In this paper we focus on a specifically distributed or decentralized approach as we are particularly interested in a decentralized solution where the robots themselves autonomously and in an individual manner, are responsible for selecting a particular task so that all the existing tasks are optimally distributed and executed. In this regard, we have established an experimental scenario to solve the corresponding multi-task distribution problem and we propose a solution using two different approaches by applying Response Threshold Models as well as Learning Automata-based probabilistic algorithms. We have evaluated the robustness of the algorithms, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Fusion of probabilistic knowledge-based classification rules and learning automata for automatic recognition of digital images

In this paper, the fusion of probabilistic knowledge-based classification rules and learning automata theory is proposed and as a result we present a set of probabilistic classification rules with self-learning capability. The probabilities of the classification rules change dynamically guided by a supervised reinforcement process aimed at obtaining an optimum classification accuracy. This novel classifier is applied to the automatic recognition of digital images corresponding to visual landmarks for the autonomous navigation of an unmanned aerial vehicle (UAV) developed by the authors. The classification accuracy of the proposed classifier and its comparison with well-established pattern recognition methods is finally reported.

Arquitectura cognitiva híbrida para la navegación autónoma de UAVs mediante mapas topológicos visuales

El objetivo fundamental de la presente tesis doctoral es el diseño de una arquitectura cognitiva, que pueda ser empleada para la navegación autónoma de vehículos aéreos no tripulados conocidos como UAV (Unmanned Aerial Vehicle). Dicha arquitectura cognitiva se apoya en la definición de una librería de comportamientos, que aportarán la inteligencia necesaria al UAV para alcanzar los objetivos establecidos, en base a la información sensorial recopilada del entorno de operación. La navegación autónoma del UAV se apoyará en la utilización de un mapa topológico visual, consistente en la definición de un grafo que engloba mediante nodos los diferentes landmarks ubicados en el entorno, y que le servirán al UAV de guía para alcanzar su objetivo. Los arcos establecidos entre los nodos del mapa topológico, le proporcionarán de la información necesaria para establecer el rumbo más adecuado para alcanzar el siguiente landmark a visitar, siguiendo siempre una secuencia lógica de navegación, basada en la distancia entre un determinado landmark con respecto al objetivo final ó landmark destino. La arquitectura define un mecanismo híbrido de control, el cual puede conmutar entre dos diferentes modos de navegación. El primero es el denominado como Search Mode, el cual se activará cuando el UAV se encuentre en un estado desconocido dentro del entorno, para lo cual hará uso de cálculos basado en la entropía para la búsqueda de posibles landmarks. Se empleará como estrategia novedosa la idea de que la entropía de una imagen tiene una correlación directa con respecto a la probabilidad de que dicha imagen contenga uno ó varios landmarks. De esta forma, la estrategia para la búsqueda de nuevos landmarks en el entorno, se basará en un proceso continuo de maximización de la entropía. Si por el contrario el UAV identifica la existencia de un posible landmark entre los definidos en su mapa topológico, se considerará que está sobre un estado conocido, por lo que se conmutará al segundo modo de navegación denominado como Homing Mode, el cual se encargará de calcular señales de control para la aproximación del UAV al landmark localizado. Éste último modo implementa un control dual basado en dos tipos de controladores (FeedForward/FeedBack) que mediante su combinación, aportarán al UAV señales de control cada vez más óptimas, además de llevar a cabo un entrenamiento continuo y en tiempo real. Para cumplir con los requisitos de ejecución y aprendizaje en tiempo real de la arquitectura, se han tomado como principales referencias dos paradigmas empleados en diferentes estudios dentro del área de la robótica, como son el paradigma de robots de desarrollo (developmental robots) basado en un aprendizaje del robot en tiempo real y de forma adaptativa con su entorno, así como del paradigma de modelos internos (internal models) basado en los resultados obtenidos a partir de estudios neurocientíficos del cerebelo humano; dicho modelo interno sirve de base para la construcción del control dual de la arquitectura. Se presentarán los detalles de diseño e implementación de los diferentes módulos que componen la arquitectura cognitiva híbrida, y posteriormente, los diferentes resultados obtenidos a partir de las pruebas experimentales ejecutadas, empleando como UAV la plataforma robótica aérea de AR.Drone. Como resultado final se ha obtenido una validación completa de la arquitectura cognitiva híbrida objetivo de la tesis, cumplimento con la totalidad de requisitos especificados y garantizando su viabilidad como aplicación operativa en el mundo real. Finalmente, se muestran las distintas conclusiones a las cuales se ha llegado a partir de los resultados experimentales, y se presentan las diferentes líneas de investigación futuras que podrán ser ejecutadas.

Auto-Emergencia de Comunicación Sintáctica en Entornos Estáticos y Dinámicos para Grupos de Robots mediante Evolución Gramatical y Aprendizaje por Refuerzo

La idea de dotar a un grupo de robots o agentes artificiales de un lenguaje ha sido objeto de intenso estudio en las ultimas décadas. Como no podía ser de otra forma los primeros intentos se enfocaron hacia el estudio de la emergencia de vocabularios compartidos convencionalmente por el grupo de robots. Las ventajas que puede ofrecer un léxico común son evidentes, como también lo es que un lenguaje con una estructura más compleja, en la que se pudieran combinar palabras, sería todavía más beneficioso. Surgen así algunas propuestas enfocadas hacia la emergencia de un lenguaje consensuado que muestre una estructura sintáctica similar al lenguaje humano, entre las que se encuentra este trabajo. Tomar el lenguaje humano como modelo supone adoptar algunas de las hipótesis y teorías que disciplinas como la filosofía, la psicología o la lingüística entre otras se han encargado de proponer. Según estas aproximaciones teóricas el lenguaje presenta una doble dimension formal y funcional. En base a su dimensión formal parece claro que el lenguaje sigue unas reglas, por lo que el uso de una gramática se ha considerado esencial para su representación, pero también porque las gramáticas son un dispositivo muy sencillo y potente que permite generar fácilmente estructuras simbólicas. En cuanto a la dimension funcional se ha tenido en cuenta la teoría quizá más influyente de los últimos tiempos, que no es otra que la Teoría de los Actos del Habla. Esta teoría se basa en la idea de Wittgenstein por la que el significado reside en el uso del lenguaje, hasta el punto de que éste se entiende como una manera de actuar y de comportarse, en definitiva como una forma de vida. Teniendo presentes estas premisas en esta tesis se pretende experimentar con modelos computacionales que permitan a un grupo de robots alcanzar un lenguaje común de manera autónoma, simplemente mediante interacciones individuales entre los robots, en forma de juegos de lenguaje. Para ello se proponen tres modelos distintos de lenguaje: • Un modelo basado en gramáticas probabilísticas y aprendizaje por refuerzo en el que las interacciones y el uso del lenguaje son claves para su emergencia y que emplea una gramática generativa estática y diseñada de antemano. Este modelo se aplica a dos grupos distintos: uno formado exclusivamente por robots y otro que combina robots y un humano, de manera que en este segundo caso se plantea un aprendizaje supervisado por humanos. • Un modelo basado en evolución gramatical que permite estudiar no solo el consenso sintáctico, sino también cuestiones relativas a la génesis del lenguaje y que emplea una gramática universal a partir de la cual los robots pueden evolucionar por sí mismos la gramática más apropiada según la situación lingüística que traten en cada momento. • Un modelo basado en evolución gramatical y aprendizaje por refuerzo que toma aspectos de los anteriores y amplia las posibilidades de los robots al permitir desarrollar un lenguaje que se adapta a situaciones lingüísticas dinámicas que pueden cambiar en el tiempo y también posibilita la imposición de restricciones de orden muy frecuentes en las estructuras sintácticas complejas. Todos los modelos implican un planteamiento descentralizado y auto-organizado, de manera que ninguno de los robots es el dueño del lenguaje y todos deben cooperar y colaborar de forma coordinada para lograr el consenso sintáctico. En cada caso se plantean experimentos que tienen como objetivo validar los modelos propuestos, tanto en lo relativo al éxito en la emergencia del lenguaje como en lo relacionado con cuestiones paralelas de importancia, como la interacción hombre-máquina o la propia génesis del lenguaje. ABSTRACT The idea of giving a language to a group of robots or artificial agents has been the subject of intense study in recent decades. The first attempts have focused on the development and emergence of a conventionally shared vocabulary. The advantages that can provide a common vocabulary are evident and therefore a more complex language that combines words would be even more beneficial. Thus some proposals are put forward towards the emergence of a consensual language with a sintactical structure in similar terms to the human language. This work follows this trend. Taking the human language as a model means taking some of the assumptions and theories that disciplines such as philosophy, psychology or linguistics among others have provided. According to these theoretical positions language has a double formal and functional dimension. Based on its formal dimension it seems clear that language follows rules, so that the use of a grammar has been considered essential for representation, but also because grammars are a very simple and powerful device that easily generates these symbolic structures. As for the functional dimension perhaps the most influential theory of recent times, the Theory of Speech Acts has been taken into account. This theory is based on the Wittgenstein’s idea about that the meaning lies in the use of language, to the extent that it is understood as a way of acting and behaving. Having into account these issues this work implements some computational models in order to test if they allow a group of robots to reach in an autonomous way a shared language by means of individual interaction among them, that is by means of language games. Specifically, three different models of language for robots are proposed: • A reinforcement learning based model in which interactions and language use are key to its emergence. This model uses a static probabilistic generative grammar which is designed beforehand. The model is applied to two different groups: one formed exclusively by robots and other combining robots and a human. Therefore, in the second case the learning process is supervised by the human. • A model based on grammatical evolution that allows us to study not only the syntactic consensus, but also the very genesis of language. This model uses a universal grammar that allows robots to evolve for themselves the most appropriate grammar according to the current linguistic situation they deal with. • A model based on grammatical evolution and reinforcement learning that takes aspects of the previous models and increases their possibilities. This model allows robots to develop a language in order to adapt to dynamic language situations that can change over time and also allows the imposition of syntactical order restrictions which are very common in complex syntactic structures. All models involve a decentralized and self-organized approach so that none of the robots is the language’s owner and everyone must cooperate and work together in a coordinated manner to achieve syntactic consensus. In each case experiments are presented in order to validate the proposed models, both in terms of success about the emergence of language and it relates to the study of important parallel issues, such as human-computer interaction or the very genesis of language.

A vision based aerial rbot solution for the IARC 2014 by the Technical University of Madrid

The IARC competitions aim at making the state of the art in UAV progress. The 2014 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and Obstacle avoidance in the setting of a ground robot herding problem. We present in this paper a drone which will take part in this competition. The platform and hardware it is composed of and the software we designed are introduced. This software has three main components: the visual information acquisition, the mapping algorithm and the Aritificial Intelligence mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenge?s is also included.

Laberinto de comercio terrestre y naual, donde breue y compendiosamente se trata de la mercancía y contratación de tierra y mar, vtil y prouechoso para mercaderes, negociadores, nauegantes y sus consulados ... /

Mode of access: Internet.

Relectura del discurso narrativo de las primeras tres decadas de la Republica Cubana en el contexto de los rasgos de la picaresca

The purpose of this dissertation was to study the narrative discourse of three Cuban novelists who produced their works from 1902 to 1933, using a typology that reveals a picaresque view of Cuban society. Focusing on La conjura and La manigua sentimental by Jesús Castellanos (1879–1912), Las honradas and Las impuras by Miguel de Carrión (1875–1929), and Generales y doctores and Juan Criollo by Carlos Loveira (1882–1928), this dissertation identified and defined picaresque traits and elements in the characterization, contrasting main and secondary, male and female characters, at all social levels. ^ The study considered the theories of the Spanish picaresque novel proposed by Antonio Maravall, Américo Castro, Claudio Guillén, Marcel Bataillon, and other critics, in order to delineate a model of traditional picaresque behavior, which was then applied to the analysis of each character. Sociopolitical and cultural conditions, as well as the psychology of the Cuban collective as presented by the authors, were also analyzed to pinpoint similarities and differences between the traditional Golden Age rogue and the characters created by the authors. ^ Critics who have studied the influence of the Spanish picaresque genre on the Latin American novel make no reference to any of the authors or novels included in this study. Key analyses, however, identified the presence of characters that use picaresque modes of behavior as a means to manipulate the structures of power in order to survive and as a futile attempt to achieve their ends within a socioeconomic context that is undergoing a significant transition. Castellanos' characters use their picaresque behavior mainly to attain a higher social status. Carrion concentrates on picaresque behavior in women as a means to manipulate the dominant male society, while Loveira's picaresque characters are mainly interested in securing a position of political power. ^

Relectura del discurso narrativo de las tres primeras décadas de la República cubana en el contexto de los rasgos de la picaresca

The purpose of this dissertation was to study the narrative discourse of three Cuban novelists who produced their works from 1902 to 1933, using a typology that reveals a picaresque view of Cuban society. Focusing on La conjura and La manigua sentimental by Jesús Castellanos (1879-1912), Las honradas and Las impuras by Miguel de Carrión (1875-1929), and Generales y doctores and Juan Criollo by Carlos Loveira (1882-1928), this dissertation identified and defined picaresque traits and elements in the characterization, contrasting main and secondary, male and female characters, at all social levels. The study considered the theories of the Spanish picaresque novel proposed by Antonio Maravall, Américo Castro, Claudio Guillén, Marcel Bataillon, and other critics, in order to delineate a model of traditional picaresque behavior, which was then applied to the analysis of each character. Sociopolitical and cultural conditions, as well as the psychology of the Cuban collective as presented by the authors, were also analyzed to pinpoint similarities and differences between the traditional Golden Age rogue and the characters created by the authors. Critics who have studied the influence of the Spanish picaresque genre on the Latin American novel make no reference to any of the authors or novels included in this study. Key analyses, however, identified the presence of characters that use picaresque modes of behavior as a means to manipulate the structures of power in order to survive and as a futile attempt to achieve their ends within a socioeconomic context that is undergoing a significant transition. Castellanos’ characters use their picaresque behavior mainly to attain a higher social status. Carrión concentrates on picaresque behavior in women as a means to manipulate the dominant male society, while Loveira’s picaresque characters are mainly interested in securing a position of political power.

A geração de 27 e o barroco: la mirada exuberante

From the context of the degree‘s creation of Spanish literature and language‘s course, at UFRN, came the motivation to make this research, that presents a literary study of a poet‘s group known as Generación del 27, that came in to light at Spain, on 1920. A lot of aspects of this study are themes of many others disciplines, of this degree (Spanish Literature II, IberianAmerican Literature, Spanish Culture, Translation in Spanish Language). This work will also serve as inspiration to new reflections and proposes of translations, as bridges between the language that goes and the other that comes. It is the Translation as comprehension‘s negotiation between languages, it is the decir casi lo mismo, here in poem‘s form (ECO, 2007), in the attempt to conclude new learning, that will be shared with undergraduate and graduate students, being at teaching area, extension or new researches. To contextualize this generation‘s studies, were elected the anthologies organized by Gerardo Diego, called Poesía Española (Antologías), published on 2007, by Ediciones Cátedras, and the Antología Comentada de La Generación del 27, wrote by Víctor García de La Concha, published on 2006, by Editorial Espasa Calpe. The research took Generacion Del 27 as their object of research and - from many others critical reading about the poetry made by those young poets, their creative vocation of aesthetics and vanguard – wanted to understand the context of literary‘s creation of those poets del 27. We form our foundation with contributions by Antonio Maravall (2009), Eugenio D‘ors (s.d) Severo Sarduy (1999), Lezama Lima (2011), Alfonso Reyes (1958) e Deleuze (2005) among others that brought the comprehension of the baroque‘s language, giving emphasis to pluridirectional movement, deconstructing it‘s linearity, creating others new forms, as returns, circles, spirals favoring encounters, detachment or equal points of departure and arrivals. In this way, the poets del 27 approached the baroque of six hundred on a re-reading, and made of the third centenary‘s celebration of the Góngora‘s a Mirada exuberante death, to the return of baroque‘s spirit. Alfonso Reyes e Rubén Darío said that real lights highlighted the paths of this poets generation: The light that desdobra scintillates on García Lorca, Jorge Gullén, Dámaso Alonso, Gerardo Diego and the bullfighter Ignacio Sánchez Mejías, poets that expressed tributes in big style to Soledades author, at Madrid‘s Caffe and all Spain.

Los políticos del progreso. Científicos en el gobierno y en el Partido Progresista (1833-1868)

La organización del Partido Progresista tiene una configuración abierta, que ensaya fórmulas de elecciones primarias y que con contará con dos núcleos: La minoría parlamentaria y una organización que será permanente desde 1846, en la que se distingue la Junta Central y la Comisión Directiva. Entre los políticos de la generación del progreso Francisco de Luxán será el primero de una nómina muy reducida de ministros con formación científico-técnica, y entre los dirigentes del Partido Progresista y de la Unión Liberal será también el único con formación científico-técnica.