Krzysztof Skrzypczyk

Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework

This paper involves a collision free target tracking problem of multi-agent robot system. Target tracking requires team coordination to maintain a desired formation and to keep team-mates and target together. Every team-mate makes decisions on their moving direction that may spoil the tactical position of others and makes the global coordination task nontrivial. The contribution of the paper is twofold. First, the convergence of target tracking is improved by a new game theoretic concept using a semi-cooperative Stackelberg equilibrium point and a new formation component in the individual cost functions. To enhance the robustness, a PD like fuzzy controller tunes the cost function weights directly for the game theoretic solution and helps to achieve a prescribed value of cost function components. Simulation result for target tracking by a three-member robot team is presented.

Planning as Artificial Intelligence Problem - Short Introduction and Overview

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

On transformation of conditional action planning to linear programming

Planning in Artificial Intelligence is a problem of finding a sequence of actions that transform given initial state of the problem to desired goal situation. In this work we consider computational difficulty of so called conditional planning. Conditional planning is a problem of searching for plans that depend on sensory information and succeed no matter which of the possible initial states the world was actually in. Finding a plan of such problems is computationally difficult. To avoid this difficulty a transformation to Linear Programming Problem, illustrated by an example, is proposed.

Probabilistic Approach to Planning Collision Free Path of UAV

In this chapter we present simulation results of an algorithm designed to planning collision free path based on probabilistic search. The aim of this study is to design an algorithm for off-line planning a set of way-points which make the collision free route of an Unmanned Aerial Vehicle (UAV). The planning process is based on the graph that represents the map containing information about altitude of the terrain over which the UAV is intended to perform its mission. The size of the graph increases polynomially with the resolution of the map and the number of way points of UAV. The probabilistic method of making the representative model of the terrain was applied in order to reduce a complexity of planning the collision free path. The functioning and efficiency of the approach proposed was introduced in our previous work, here we use real terrain map and introduce indicators to illustrate properties of the algorithm.

Time Optimal Target Following by a Mobile Vehicle

The paper addresses the problem of mobile robot navigation in case of moving target. The solution of such problem requires the prediction of a future location of the target and fast tracking algorithmmust be provided. In this work amethod of time optimal target tracking is presented. The proposed method is very effective and can be applied even to very simple processing unit. Results of simulations are presented to prove an efficiency of the proposed approach.

Information Fusion in Multi-agent System Based on Reliability Criterion

The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

On Multi Agent Coordination in the Presence of Incomplete Information

This paper presents the problem of the coordination of actions in a multi-agent system. The main difficulty in resolving this problem is the limited information. Each agent is provided only with partial information about the state of the team of agents. This paper presents a hybrid technique that combines the game theory tool and the voting schema, which is applied to create the method of coordination that deals with this problem. Appropriate simulation results of the proposed techniques are presented.

Running pace estimation using complementary filter based fusion of GPS and pedometer data

This paper presents an application of complementary filtration for estimating running pace using GPS and pedometer data. In the approach presented two information sources are fused with dynamically adjusted importance factors. In the case of poor GPS signal the pedometer data are gained by the filter, and otherwise. The method proposed was verified using multiple simulations. An exemplary one is presented and discussed in the paper.

Conception of a Diagnostic System for Evaluating a Technique Correctness and Effectiveness of Running

The paper addresses the problem of a system design for evaluating the quality and effectiveness of human running. In this work the general conception of diagnostic system which can capture and measure some specific and key parameters of the running stride and posture is discussed. Instead of using the high resolution motion capture systems an application of relatively simple technological means are proposed. Running biomechanics improvement require changing some basic phases of motion. Extracting key elements of the overall and quite complex process of running, and further working under their improvement can result in successful transformation on running form. Moreover reducing the number of motion parameter observed allows applying relatively simple diagnostic system. In this paper an application of 2D vision system and inertial measurement units is discussed.

Multi-robot Task Planning Problem with Uncertainty in Game Theoretic Framework

An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in these paper. Results of exemplary simulations are presented to prove the suitability of the approach presented.