Dynamic task allocation and coordination in cooperative multi-agent environments

La coordinació i assignació de tasques en entorns distribuïts ha estat un punt important de la recerca en els últims anys i aquests temes són el cor dels sistemes multi-agent. Els agents en aquests sistemes necessiten cooperar i considerar els altres agents en les seves accions i decisions. A més a més, els agents han de coordinar-se ells mateixos per complir tasques complexes que necessiten més d'un agent per ser complerta. Aquestes tasques poden ser tan complexes que els agents poden no saber la ubicació de les tasques o el temps que resta abans de que les tasques quedin obsoletes. Els agents poden necessitar utilitzar la comunicació amb l'objectiu de conèixer la tasca en l'entorn, en cas contrari, poden perdre molt de temps per trobar la tasca dins de l'escenari. De forma similar, el procés de presa de decisions distribuït pot ser encara més complexa si l'entorn és dinàmic, amb incertesa i en temps real. En aquesta dissertació, considerem entorns amb sistemes multi-agent amb restriccions i cooperatius (dinàmics, amb incertesa i en temps real). En aquest sentit es proposen dues aproximacions que permeten la coordinació dels agents. La primera és un mecanisme semi-centralitzat basat en tècniques de subhastes combinatòries i la idea principal es minimitzar el cost de les tasques assignades des de l'agent central cap als equips d'agents. Aquest algoritme té en compte les preferències dels agents sobre les tasques. Aquestes preferències estan incloses en el bid enviat per l'agent. La segona és un aproximació d'scheduling totalment descentralitzat. Això permet als agents assignar les seves tasques tenint en compte les preferències temporals sobre les tasques dels agents. En aquest cas, el rendiment del sistema no només depèn de la maximització o del criteri d'optimització, sinó que també depèn de la capacitat dels agents per adaptar les seves assignacions eficientment. Addicionalment, en un entorn dinàmic, els errors d'execució poden succeir a qualsevol pla degut a la incertesa i error de accions individuals. A més, una part indispensable d'un sistema de planificació és la capacitat de re-planificar. Aquesta dissertació també proveeix una aproximació amb re-planificació amb l'objectiu de permetre als agent re-coordinar els seus plans quan els problemes en l'entorn no permeti la execució del pla. Totes aquestes aproximacions s'han portat a terme per permetre als agents assignar i coordinar de forma eficient totes les tasques complexes en un entorn multi-agent cooperatiu, dinàmic i amb incertesa. Totes aquestes aproximacions han demostrat la seva eficiència en experiments duts a terme en l'entorn de simulació RoboCup Rescue.

Cooperative learning: a guide for teachers of the deaf

This paper examines cooperative learning, a strategy of teaching in which students work together in groups, thus acquiring both academic and social skills

Cooperative learning: helping hearing impaired students build success

This paper examines the importance of cooperative learning and its use in the education of hearing-impaired children.

Do child cochlear implant users who are perceived unfavorably as communication partners have poor self-esteem?

This paper examines self-esteem issues with children who wear a cochlear implant.

Comparing cochlear implant users' and their partners' subjective assessment of verbal strategy use with objective assessment: does this change following psychosocial therapy?

This paper investigates the effectiveness of a group-based psychosocial rehabilitation program for cochlear implant patients and their frequent communication partners.

The Influence of Body Condition on the Stopover Ecology of Least Sandpipers in the Lower Mississippi Alluvial Valley during Fall Migration

Many shorebirds are long-distance migrants and depend on the energy gained at stopover sites to complete migration. Competing hypotheses have described strategies used by migrating birds; the energy-selection hypothesis predicts that shorebirds attempt to maximize energy gained at stopover sites, whereas the time-selection hypothesis predicts that shorebirds attempt to minimize time spent at stopover sites. The energy- and time-selection hypotheses both predict that birds in better condition will depart sites sooner. However, numerous studies of stopover duration have found little support for this prediction, leading to the suggestion that migrating birds operate under energy and time constraints for only a small portion of the migratory season. During fall migration 2002, we tested the prediction that birds in better condition depart stopover sites sooner by examining the relationship between stopover duration and body condition for migrating Least Sandpipers (Calidris minutilla) at three stopover sites in the Lower Mississippi Alluvial Valley. We also tested the assumption made by the Lower Mississippi Alluvial Valley Migratory Bird Science Team that shorebirds stay in the Mississippi Valley for 10 d. The assumption of 10 d was used to estimate the amount of habitat required by shorebirds in the Mississippi Valley during fall migration; a period longer than 10 d would increase the estimate of the amount habitat required. We used multiple-day constancy models of apparent survival and program MARK to estimate stopover duration for 293 individually color-marked and resighted Least Sandpipers. We found that a four-day constancy interval and a site x quadratic time trend interaction term best modeled apparent survival. We found only weak support for body condition as a factor explaining length of stopover duration, which is consistent with findings from similar work. Stopover duration estimates were 4.1 d (95% CI = 2.8–6.1) for adult Least Sandpipers at Bald Knob National Wildlife Refuge, Arkansas, 6.5 d (95% CI = 4.9–8.7) for adult and 6.1 d (95% CI =4.2–9.1) for juvenile Least Sandpipers at Yazoo National Wildlife Refuge, Mississippi, and 6.9 d (95% CI = 5.5–8.7) for juvenile Least Sandpipers at Morgan Brake National Wildlife Refuge, Mississippi. Based on our estimates of stopover duration and the assumption made by the Lower Mississippi Alluvial Valley Migratory Bird Science Team, there is sufficient habitat in the lower Mississippi Valley to support shorebirds during fall migration.

A Field Evaluation of the Time-of-Detection Method to Estimate Population Size and Density for Aural Avian Point Counts

The time-of-detection method for aural avian point counts is a new method of estimating abundance, allowing for uncertain probability of detection. The method has been specifically designed to allow for variation in singing rates of birds. It involves dividing the time interval of the point count into several subintervals and recording the detection history of the subintervals when each bird sings. The method can be viewed as generating data equivalent to closed capture–recapture information. The method is different from the distance and multiple-observer methods in that it is not required that all the birds sing during the point count. As this method is new and there is some concern as to how well individual birds can be followed, we carried out a field test of the method using simulated known populations of singing birds, using a laptop computer to send signals to audio stations distributed around a point. The system mimics actual aural avian point counts, but also allows us to know the size and spatial distribution of the populations we are sampling. Fifty 8-min point counts (broken into four 2-min intervals) using eight species of birds were simulated. Singing rate of an individual bird of a species was simulated following a Markovian process (singing bouts followed by periods of silence), which we felt was more realistic than a truly random process. The main emphasis of our paper is to compare results from species singing at (high and low) homogenous rates per interval with those singing at (high and low) heterogeneous rates. Population size was estimated accurately for the species simulated, with a high homogeneous probability of singing. Populations of simulated species with lower but homogeneous singing probabilities were somewhat underestimated. Populations of species simulated with heterogeneous singing probabilities were substantially underestimated. Underestimation was caused by both the very low detection probabilities of all distant individuals and by individuals with low singing rates also having very low detection probabilities.