Learning for cooperation in multirobot team competitions
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We propose a learning architecture for cooperation in multirobot team competitions. This is a fully distributed, behavior-based software architecture, which facilitates flexible and reliable coordination of a team of robots performing tasks that may be subverted by another team of robots. Through the use of genetic algorithms, the robot team learns from past task execution experiences and improves its cooperation between the robots. The team performance in a game competition can be effectively improved. The feasibility of this architecture is demonstrated through simulation and practical experiments on a team of robots performing 3-on-3 robot soccer game.Human Computation, along with much of the Internet, only works when humans find tasks fun, enjoyable, or valuable enough to outweigh the time and effort they require to complete. The more value, or utility, that a task and interface provides, the more "work" humans will do. However, we do not yet know how to objectively measure the fun, enjoyment, or value of a user interface applied to a particular task. This demonstration presents the utiliscope, a system that empirically measures the utility of a user interface for a task by putting multiple versions of a user interface together with a task on Mechanical Turk and measuring the amount of money required to convince humans to use them.
Interface (matter)
Value (mathematics)
Task Analysis
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Assistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. We believe user preferences are key to this adaptation. In this article, we evaluate the use of preferences for Physically Assistive Robotics tasks in a Human-Robot Interaction user evaluation. Three assistive tasks have been implemented consisting of assisted feeding, shoe-fitting, and jacket dressing, where the robot performs each task in a different manner based on user preferences. We assess the ability of the users to determine which execution of the task used their chosen preferences (if any). The obtained results show that most of the users were able to successfully guess the cases where their preferences were used even when they had not seen the task before. We also observe that their satisfaction with the task increases when the chosen preferences are employed. Finally, we also analyze the user’s opinions regarding assistive tasks and preferences, showing promising expectations as to the benefits of adapting the robot behavior to the user through preferences.
User Satisfaction
User needs
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Scholarly analysis of the writings on architecture of philosopher Friedrich Nietzsche (1844–1900) has largely focused on passages in Twilight of the Idols where he claims that ‘Architecture is a kind of eloquence of power in forms – now persuading, even flattering, now only commanding.’ 1 Yet, considering Nietzsche’s theory of the will-to-power – that an innate drive towards power, might, and self-overcoming is the dominant force of existence – architecture gets interpreted in this passage as he would likely have interpreted sculpture. Any recognition of the social, political, physical, and psychological accommodations of architecture are absent. However, in a passage in Joyful Wisdom entitled ‘Architecture for the Perceptive’, Nietzsche wrote of architecture as a carefully crafted space to inhabit. This discussion of architecture as a lived space has received considerably less attention.
Sculpture
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Why do we exhibit architecture when we are enveloped by it every day? Architecture exhibitions have become increasingly popular and relevant over the last two decades. This is demonstrated by international organizations such as the Venice Architecture Biennale, Chicago Architecture Biennial and Storefront for Art and Architecture. Placing architecture on display, activates the curatorial practise of the convergence between art and architecture. This thesis explores the integration and overlap of artistic expression within architecture and how it informs the function of a space. The notion of curation and its practices will be researched to delve further into how visual and creative practices influence how architects develop, discuss and advocate their work. The final curatorial project will explore how art can be utilized as a catalyst to bridge purely pragmatic physical elements of a structure with artistic forms, seeking to enrich the relationships between the public and the (built) environment.
Bridge (graph theory)
Expression (computer science)
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In this paper, an improved self organizing map (SOM)-based approach is proposed for multi-robot systems to tackle the task assignment problem which focuses on the self-organization issue with a large number of robots and a large number of task locations in dynamic environments subject to uncertainties. It is capable of dynamically controlling a group of mobile robots to achieve different task locations from arbitrary initial locations and directions. In the proposed approach, the robot motion planning is integrated with the task assignment, thus the robots start to move once the overall task is given. The group of mobile robots can automatically arrange the total task, and dynamically adjust their motion whenever the environment is changed, such as when some robots break down, some robots and/or some tasks are added, or the situation accruing when some tasks are changed. Different from our early study, the current direction of every robot is considered during the robot motion planning. The effectiveness and efficiency of the proposed approach are demonstrated by simulation studies.
Task Analysis
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Humans are increasingly turning to non-human agents for advice. Therefore, it is important to investigate if human-likeness of a robot affects advice-seeking. In this experiment, participants chose robot advisors with different levels of human-likeness when completing either social or analytical tasks, and the task was either known or unknown when the robot advisor was selected. In the agent first condition, participants chose the advisor before receiving their task assignment, and in the task first condition participants received their task assignment before choosing the advisor. Results indicated that task type did not play a role in agent selection in either condition. However, in the agent first condition, more human-like robots (Nao and Kodomoroid) were selected at a higher rate than machine-like robots (Cozmo) and, in the task first condition, Nao was selected at a higher rate than Cozmo or Kodomoroid. These results should be considered when designing robots for giving advice to improve human-robot interaction.
Advice (programming)
Human–robot interaction
Task Analysis
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Heinrich von Geymuller, an architect and a great historian of architecture, once made the remark: “As little as Man lives by bread alone, does Architecture live by construction alone.”2 With these words he opposed a number of notions, the influence of which he considered as fatal for the future of architecture, notions which essentially stem from one and the same ground. The first of them is founded on the obvious advance of technical skill in our age, of which the introduction of steel construction in architecture is perhaps the main feature. It is the conviction that command of the science of construction is all that an architect needs to create architecture, good architecture. The second notion regards the role of architecture in Life. A disillusioned age, our time stresses more and more the purely practical ends of building. Usability has become the paramount criterion of judgment in regard to architecture. These notions filter into the evaluation of the history of architecture in a curious fashion. G...
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The robots know where they are and can locate objects in the map. However, over time some functions will fail in some robots, so an organisational structure would be advantageous in order to avoid having to repair each of the robots once they fail or once their functionality is reduced. If one robot fails, its corresponding “area of responsibility” would not be covered properly. On the other hand its fellow robots might have “spare time” which they could use to help out. As long as the group can compensate for deficiencies of single robots and they can fulfil their job in the given amount of time (during the night) then the group of robots can function autonomously. The next day (or once a week) the robots can be repaired during routine checkup, but their night shift job would not be interrupted.
Spare part
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William Hodges pointed out Grecian Architecture was not the most excellent architecture, in his "Dissertation." He gave his opinion that the first habitations had been brought to an architectural perfection while they had been influenced by the climate, the pursuits, the habits and the materials. He supposed the architectures had originated from the Hut (or Tent), or the Caverns. He thought the forces of Nature had formed the types of Architecture in the Caverns. There was an aesthetic element in his opinion. He thought Grecian, Roman, Chinese Architecture had originated from the Hut or the Tent. He thought Egyptian, Hindoo, Moorish and Gothic Architecture had originated from the Caverns, and these architectures had been brought to an equal perfection with Grecian Architecture. In his opinioin about Indian Architecture, there was the near idea of the theory of architectural origin.
Perfection
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Heinrich von Geymüller, an architect and a great historian of architecture, once made the remark: “As little as Man lives by bread alone, does Architecture live by construction alone.”2 With these words he opposed a number of notions, the influence of which he considered as fatal for the future of architecture, notions which essentially stem from one and the same ground. The first of them is founded on the obvious advance of technical skill in our age, of which the introduction of steel construction in architecture is perhaps the main feature. It is the conviction that command of the science of construction is all that an architect needs to create architecture, good architecture. The second notion regards the role of architecture in Life. A disillusioned age, our time stresses more and more the purely practical ends of building. Usability has become the paramount criterion of judgment in regard to architecture. These notions filter into the evaluation of the history of architecture in a curious fashion. Gothic architecture, for example, is idolized as the principal example of architecture created entirely from a consideration of technical problems, while a number of other styles of architecture, because they are suspected of sinning against so-called laws of construction and of indulging in unnecessary fancy, are condemned as false, insincere, and—inartistic. Thus, the role of imagination as a determining force in the creation of architecture seems to be in question. Yet, there still are those who do not want to dispense with the imaginative side of architecture; but they are told that it is divorced from construction and usefulness (“function”), and they find themselves holding on to something which seems a mere plaything, and which is becoming more and more meaningless.
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