Agent's preferences; Changing environment; Coupled dynamics; Decisions makings; Dynamic-adaptive; Dynamics models; Frame-work; Opinion dynamics; Physical constraints; Physical dynamics; Control and Optimization; Modeling and Simulation
Abstract :
[en] We propose a threshold decision-making frame-work for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a multi-robot task allocation application for trash collection.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Amorim, Giovanna; Princeton Univ., Dept. Of Mechanical And Aerospace Engineering, Princeton, United States
Santos, María; Princeton Univ., Dept. Of Mechanical And Aerospace Engineering, Princeton, United States
Park, Shinkyu; King Abdullah Univ. Of Science And Technology (KAUST), Computer, Electrical And Math. Science And Eng. Div., Thuwal, Saudi Arabia
Franci, Alessio ; Université de Liège - ULiège > Département d'électricité, électronique et informatique (Institut Montefiore) > Brain-Inspired Computing ; Wel Research Institute, Wavre, Belgium
Leonard, Naomi Ehrich; Princeton Univ., Dept. Of Mechanical And Aerospace Engineering, Princeton, United States
Language :
English
Title :
Threshold Decision-Making Dynamics Adaptive to Physical Constraints and Changing Environment
Publication date :
2024
Event name :
2024 European Control Conference (ECC)
Event place :
Stockholm, Swe
Event date :
25-06-2024 => 28-06-2024
Audience :
International
Main work title :
2024 European Control Conference, ECC 2024
Publisher :
Institute of Electrical and Electronics Engineers Inc.
A. Bizyaeva, A. Franci, and N. E. Leonard, "Nonlinear opinion dynamics with tunable sensitivity, " IEEE Trans. on Autom. Control, vol. 68, no. 3, pp. 1415-1430, 2023.
C. Cathcart, M. Santos, S. Park, and N. E. Leonard, "Proactive opinion-driven robot navigation around human movers, " in EEE/RSJ Int. Conf. Robot. Intell. Robots Syst. (IROS), 2023.
S. Park, A. Bizyaeva, M. Kawakatsu, A. Franci, and N. E. Leonard, "Tuning cooperative behavior in games with nonlinear opinion dynamics, " IEEE Control Syst. Lett., vol. 6, pp. 2030-2035, 2022.
H. Hu, K. Nakamura, K.-C. Hsu, N. E. Leonard, and J. F. Fisac, "Emergent coordination through game-induced nonlinear opinion dynamics, " in IEEE Conf. on Decision and Control, 2023.
A. Bizyaeva, G. Amorim, M. Santos, A. Franci, and N. E. Leonard, "Switching transformations for decentralized control of opinion patterns in signed networks: Application to dynamic task allocation, " IEEE Control Syst. Lett., vol. 6, pp. 3463-3468, 2022.
N. E. Leonard, A. Bizyaeva, and A. Franci, "Fast and flexible multiagent decision-making, " Annual Review of Control, Robotics, and Autonomous Systems, no. 1, p. null, 2024.
M. J. Krieger and J.-B. Billeter, "The call of duty: Self-organised task allocation in a population of up to twelve mobile robots, " Robot. And Autonom. Syst., vol. 30, no. 1, pp. 65-84, 2000.
W. Agassounon and A. Martinoli, "Efficiency and robustness of threshold-based distributed allocation algorithms in multi-agent systems. " New York, NY: Assoc. for Comp. Mach., 2002, p. 1090-1097.
E. Castello, T. Yamamoto, F. Dalla Libera, W. Liu, A. Winfield, Y. Nakamura, and H. Ishiguro, "Adaptive foraging for simulated and real robotic swarms: The dynamical response threshold approach, " Swarm Intelligence, vol. 10, pp. 1-31, 03 2016.
N. Kalra and A. Martinoli, Comparative Study of Market-Based and Threshold-Based Task Allocation, 06 2007, pp. 91-101.
B. P. Gerkey and M. J. Mataríc, "A formal analysis and taxonomy of task allocation in multi-robot systems, " Int. J. of Robot. Research, vol. 23, no. 9, pp. 939-954, 2004.
M. B. Dias, "Traderbots: A new paradigm for robust and efficient multirobot coordination in dynamic environments, " Ph. D. dissertation, Carnegie Mellon University, Pittsburgh, PA, January 2004.
M. Dias, R. Zlot, N. Kalra, and A. Stentz, "Market-based multirobot coordination: A survey and analysis, " Proceedings of the IEEE, vol. 94, no. 7, pp. 1257-1270, 2006.
L. Lin and Z. Zheng, "Combinatorial bids based multi-robot task allocation method, " in IEEE Int. Conf. on Robot. And Autom., 2005, pp. 1145-1150.
W. Saad, Z. Han, T. Basar, M. Debbah, and A. Hjorungnes, "Hedonic coalition formation for distributed task allocation among wireless agents, " IEEE Trans. on Mob. Comp., vol. 10, no. 9, pp. 1327-1344, 2011.
I. Jang, H.-S. Shin, and A. Tsourdos, "Anonymous hedonic game for task allocation in a large-scale multiple agent system, " IEEE Trans. on Robot., vol. 34, no. 6, pp. 1534-1548, 2018.
S. Park, Y. D. Zhong, and N. E. Leonard, "Multi-robot task allocation games in dynamically changing environments, " in IEEE Int. Conf. Robot. Autom. (ICRA), Xi'an, China, 2021, pp. 8678-8684.
A. Dhooge, W. Govaerts, I. Kouznetsov, H. Meijer, and B. Sautois, "New features of the software matcont for bifurcation analysis of dynamical systems. " Mathematical and Computer Modelling of Dynamical Systems, vol. 14, no. 1/2, pp. 147-175, 2008.
S. H. Strogatz, Nonlinear Dynamics and Chaos: With Applications to Physics, Biology, Chemistry and Engineering. Westview Press, 2000.
M. Golubitsky and D. G. Schaeffer, Singularities and Groups in Bifurcation Theory, ser. Applied Mathematical Sciences. New York, NY: Springer-Verlag, 1985, vol. 51.
L. Wang, A. D. Ames, and M. Egerstedt, "Safety barrier certificates for collisions-free multirobot systems, " IEEE Trans. on Robot., vol. 33, no. 3, pp. 661-674, 2017.
