arXiv subjects

Carlos H. C. Ribeiro

Publications and source records attributed to Carlos H. C. Ribeiro.

5 recordsLinked to original sources

arXiv2026

Agent Utilities over Generalized Voronoi Regions and their Gradients

In this paper, we generalize the concept of Voronoi regions, define agent utility as the integral of a utility density over the corresponding Voronoi region, derive gradients of the utility, and illustrate the approach in a two-team example from soccer. The generalization of Voronoi regions is in the form of so-called Cost-Induced Voronoi (CIV) regions, where the agent state space may differ from the space being partitioned. One example of such regions is when the cost is given by the optimal solution of an LQR control problem. Then the agent states include position as well as velocity, while the partitioned space only includes positions. The agent utility is defined by integrating some utility density over the CIV region of the agent. This utility density might be the probability density of some beneficial event, such as receiving a pass in soccer. The utility is then the overall probability of receiving a pass and the gradient represents a way to improve that probability. We show how this utility gradient can be computed using the Reynolds Transport Theorem from fluid mechanics, and that this approach achieves similar accuracy while reducing computation time by about an order of magnitude compared to a baseline finite-difference approximation.

cs.RO↗

arXiv2014

Analysis of the Effects of Failure and Noise in the Distributed Connectivity Maintenance of a Multi-robot System

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with obstacles. However, when dealing with real-robot systems, several sources of data corruption can appear in the agent interaction. In this paper, the effects of failure and noise in the communication between agents are analyzed upon a connectivity maintenance control strategy. The results show that the connectivity strategy is resilient to the negative effects of such disturbances under realistic settings that consider a bandwidth limit for the control effort. This opens the perspective of applying the connectivity maintenance strategy in adaptive schemes that consider, for instance, autonomous adaptation to constraints other than connectivity itself, e.g. communication efficiency and energy harvesting.

cs.MA↗

arXiv2013

Top-down and Bottom-up Feature Combination for Multi-sensor Attentive Robots

The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their sensors in a daily scene, a natural system is applied: Attention. As vision plays an important role in our routine, most research regarding attention has involved this sensorial system and the same has been replicated to the robotics field. However,most of the robotics tasks nowadays do not rely only in visual data, that are still costly. To allow the use of attentive concepts with other robotics sensors that are usually used in tasks such as navigation, self-localization, searching and mapping, a generic attentional model has been previously proposed. In this work, feature mapping functions were designed to build feature maps to this attentive model from data from range scanner and sonar sensors. Experiments were performed in a high fidelity simulated robotics environment and results have demonstrated the capability of the model on dealing with both salient stimuli and goal-driven attention over multiple features extracted from multiple sensors.

cs.RO↗

arXiv2009

Consensus Dynamics in a non-deterministic Naming Game with Shared Memory

In the naming game, individuals or agents exchange pairwise local information in order to communicate about objects in their common environment. The goal of the game is to reach a consensus about naming these objects. Originally used to investigate language formation and self-organizing vocabularies, we extend the classical naming game with a globally shared memory accessible by all agents. This shared memory can be interpreted as an external source of knowledge like a book or an Internet site. The extended naming game models an environment similar to one that can be found in the context of social bookmarking and collaborative tagging sites where users tag sites using appropriate labels, but also mimics an important aspect in the field of human-based image labeling. Although the extended naming game is non-deterministic in its word selection, we show that consensus towards a common vocabulary is reached. More importantly, we show the qualitative and quantitative influence of the external source of information, i.e. the shared memory, on the consensus dynamics between the agents.

cs.MA↗

arXiv2007

Inquiring the Potential of Evoking Small-World Properties for Self-Organizing Communication Networks

Mobile multi-hop ad hoc networks allow establishing local groups of communicating devices in a self-organizing way. However, in a global setting such networks fail to work properly due to network partitioning. Providing that devices are capable of communicating both locally-e.g. using Wi-Fi or Bluetooth-and additionally also with arbitrary remote devices-e.g. using GSM/UMTS links-the objective is to find efficient ways of inter-linking multiple network partitions. Tackling this problem of topology control, we focus on the class of small-world networks that obey two distinguishing characteristics: they have a strong local clustering while still retaining a small average distance between two nodes. This paper reports on results gained investigating the question if small-world properties are indicative for an efficient link management in multiple multi-hop ad hoc network partitions.

cs.NI↗