An optimization variant of a problem of path planning for multiple robots is addressed in this work. The task is to find spatial-temporal path for each robot of a group of robots such that each robot can reach its destination by navigating through these paths. In the optimization variant of the problem, there is an additional requirement that the makespan of the solution must be as small as possible. A proof of the claim that optimal path planning for multiple robots is NP‑complete is sketched in this short paper.

We present an on-line decentralised algorithm for coordinating mobile sensors for a broad class of information gathering tasks. These sensors can be deployed in unknown and possibly hostile environments, where uncertainty and dynamism are endemic. Such environments are common in the areas of disaster response and military surveillance. Our coordination approach itself is based on work by Stranders et al. (2009), that uses the max-sum algorithm to coordinate mobile sensors for monitoring spatial phenomena. In particular, we generalise and extend their approach to any domain where measurements can be valued. Also, we introduce a clustering approach that allows sensors to negotiate over paths to the most relevant locations, as opposed to a set of fixed directions, which results in a significantly improved performance. We demonstrate our algorithm by applying it to two challenging and distinct information gathering tasks. In the first–pursuit-evasion (PE)–sensors need to capture a target whose movement might be unknown. In the second–patrolling (P)–sensors need to minimise loss from intrusions that occur within their environment. In doing so, we obtain the first decentralised coordination algorithms for these domains. Finally, in each domain, we empirically evaluate our approach in a simulated environment, and show that it outperforms two state of the art greedy algorithms by 30% (PE) and 44% (P), and an existing approach based on the Travelling Salesman Problem by 52% (PE) and 30% (P).

Using a model of agent behavior based around envy-reducing strategies, we describe an iterated combinatorial auction in which the allocation and prices converge to a solution in the core of the agents' true valuations. In each round of the iterative auction mechanism, agents act on envy quotes produced by the mechanism: hints that suggest the prices of the bundles they are interested in. We describe optimal methods of generating envy quotes for various core-selecting mechanisms. Prior work on core-selecting combinatorial auctions has required agents to have perfect information about every agent's valuations to achieve a solution in the core. In contrast, here a core solution is reached even in the private information setting.

Multi-agent decision problems, in which independent agents have to agree on a joint plan of action or allocation of resources, are central to AI. In such situations, agents' individual preferences over available alternatives may vary, and they may try to reconcile these differences by voting. Based on the fact that agents may have incentives to vote strategically and misreport their real preferences, a number of recent papers have explored different possibilities for avoiding or eliminating such manipulations. In contrast to most prior work, this paper focuses on convergence of strategic behavior to a decision from which no voter will want to deviate. We consider scenarios where voters cannot coordinate their actions, but are allowed to change their vote after observing the current outcome. We focus on the Plurality voting rule, and study the conditions under which this iterative game is guaranteed to converge to a Nash equilibrium (i.e., to a decision that is stable against further unilateral manipulations). We show for the first time how convergence depends on the exact attributes of the game, such as the tie-breaking scheme, and on assumptions regarding agents' weights and strategies.

Spectral feature selection identifies relevant features by measuring their capability of preserving sample similarity. It provides a powerful framework for both supervised and unsupervised feature selection, and has been proven to be effective in many real-world applications. One common drawback associated with most existing spectral feature selection algorithms is that they evaluate features individually and cannot identify redundant features. Since redundant features can have significant adverse effect on learning performance, it is necessary to address this limitation for spectral feature selection. To this end, we propose a novel spectral feature selection algorithm to handle feature redundancy, adopting an embedded model. The algorithm is derived from a formulation based on a sparse multi-output regression with a L 2,1 -norm constraint. We conduct theoretical analysis on the properties of its optimal solutions, paving the way for designing an efficient path-following solver. Extensive experiments show that the proposed algorithm can do well in both selecting relevant features and removing redundancy.

We present an interactive learning method that enables a user to iteratively refine a regression model. The user examines the output of the model, visualized as the vertical axis of a 2D scatterplot, and provides corrections by repositioning individual data instances to the correct output level. Each repositioned data instance acts as a control point for altering the learned model, using the geometry underlying the data. We capture the underlying structure of the data as a manifold, on which we compute a set of basis functions as the foundation for learning. Our results show that manifold-based interactive learning improves performance monotonically with each correction, outperforming alternative approaches.

Belief revision performs belief change on an agent's beliefs when new evidence (either of the form of a propositional formula or of the form of a total pre-order on a set of interpretations) is received. Jeffrey's rule is commonly used for revising probabilistic epistemic states when new information is probabilistically uncertain. In this paper, we propose a general epistemic revision framework where new evidence is of the form of a partial epistemic state. Our framework extends Jeffrey's rule with uncertain inputs and covers well-known existing frameworks such as ordinal conditional function (OCF) or possibility theory. We then define a set of postulates that such revision operators shall satisfy and establish representation theorems to characterize those postulates. We show that these postulates reveal common characteristics of various existing revision strategies and are satisfied by OCF conditionalization, Jeffrey's rule of conditioning and possibility conditionalization. Furthermore, when reducing to the belief revision situation, our postulates can induce most of Darwiche and Pearl's postulates.

Answer Set Programming (ASP) has been deployed in many applications, thanks to the availability of efficient solvers. Most programs encountered in practice have an important property: Their predicate arities are bounded by a constant, and in this case it is known that the relevant computations can be done using polynomial space. However, all competitive ASP systems rely on grounding, due to which they may use exponential space for these programs. We present three evaluation methods that respect the polynomial space bound and a generic framework architecture for realization. Experimental results for a prototype implementation indicate that the methods are effective. They show not only benign space consumption, but interestingly also good runtime compared to some state of the art ASP solvers.

In this paper, we study the knowledge compilation task for propositional epistemic logic S5. We first extend many of the queries and transformations considered in the classical knowledge compilation map to S5. We then show that the notion of disjunctive normal form (DNF) can be profitably extended to the epistemic case; we prove that the DNF fragment of S5, when appropriately defined, satisfies essentially the same queries and transformations as its classical counterpart.

Approaches to reasoning about knowledge in imperfect information games typically involve an exhaustive description of the game, the dynamics characterized by a tree and the incompleteness in knowledge by information sets. Such specifications depend on a modeler's intuition, are tedious to draft and vague on where the knowledge comes from. Also, formalisms proposed so far are essentially propositional, which, at the very least, makes them cumbersome to use in realistic scenarios. In this paper, we propose to model imperfect information games in a new multi-agent epistemic variant of the situation calculus. By using the concept of only-knowing, the beliefs and non-beliefs of players after any sequence of actions, sensing or otherwise, can be characterized as entailments in this logic. We show how de re vs. de dicto belief distinctions come about in the framework. We also obtain a regression theorem for multi-agent beliefs, which reduces reasoning about beliefs after actions to reasoning about beliefs in the initial situation.