Teams of mobile robots often need to divide up subtasks efficiently. In spatial domains, a key criterion for doing so may depend on distances between robots and the subtasks' locations. This paper considers a specific such criterion, namely how to assign interchangeable robots, represented as point masses, to a set of target goal locations within an open two dimensional space such that the makespan (time for all robots to reach their target locations) is minimized while also preventing collisions among robots. We present scaleable (computable in polynomial time) role assignment algorithms that we classify as being SCRAM (Scalable Collision-avoiding Role Assignment with Minimal-makespan). SCRAM role assignment algorithms use a graph theoretic approach to map agents to target goal locations such that our objectives for both minimizing the makespan and avoiding agent collisions are met. A system using SCRAM role assignment was originally designed to allow for decentralized coordination among physically realistic simulated humanoid soccer playing robots in the partially observable, non-deterministic, noisy, dynamic, and limited communication setting of the RoboCup 3D simulation league. In its current form, SCRAM role assignment generalizes well to many realistic and real-world multiagent systems, and scales to thousands of agents.

In this game, each player deal with enormous sizes such as a smart grid is rapidly increasing associated with a variable keeps providing probability distributions in AI communities. The distributed constraint optimization over its domain, and tries to minimize the regret, problem (DCOP for short) is arguably the most which is the average additional cost incurred by the probability studied problem in this setting, where the goal is to find an distributions against the strategy of outputting a best assignment that minimizes the total sum of costs incurred single value all the time. We can make the regret of each by (local) cost functions. Since it takes a prohibitively long agent arbitrarily small by utilizing the multiplicative weights time to exactly solve DCOP, we need to resort to incomplete method. Finally, we round the obtained probability distributions algorithms, and a plethora of incomplete algorithms to integer values. We prove that our method converges have been proposed in the literature, such as local search to a certain kind of equilibrium, called a coarse correlated based algorithms (Maheswaran, Pearce, and Tambe 2004; equilibrium. Zhang et al. 2005), inference based algorithms (Farinelli We empirically compare our methods with previous stateof-the-art et al. 2008), graph based algorithms (Bowring et al. 2008; methods. We demonstrate that our methods are Kiekintveld et al. 2010), divide-and-coordinate based algorithms scalable, and that DMW-Game outperforms other methods (Vinyals, Rodriguez-Aguilar, and Cerquides 2010; in terms of solution quality and efficiency. Hatano and Hirayama 2013), and sampling based algorithms (Ottens, Dimitrakakis, and Faltings 2012; Nguyen, Yeoh, and Lau 2013).

Strategy Logic (SL) has recently come to the fore as a useful specification language to reason about multi-agent systems. Its one-goal fragment, or SL[1G], is of particular interest as it strictly subsumes widely used logics such as ATL*, while maintaining attractive complexity features. In this paper we put forward an automata-based methodology for verifying and synthesising multi-agent systems against specifications given in SL[1G]. We show that the algorithm is sound and optimal from a computational point of view. A key feature of the approach is that all data structures and operations on them can be performed on BDDs. We report on a BDD-based model checker implementing the algorithm and evaluate its performance on the fair process scheduler synthesis.

In many cases, creating long-term solutions to sustainability issues requires not only innovative technology, but also large-scale public adoption of the proposed solutions. Social simulations are a valuable but underutilized tool that can help public policy researchers understand when sustainable practices are likely to make the delicate transition from being an individual choice to becoming a social norm. In this paper, we introduce a new normative multi-agent architecture, Cognitive Social Learners (CSL), that models bottom-up norm emergence through a social learning mechanism, while using BDI (Belief/Desire/Intention) reasoning to handle adoption and compliance. CSL preserves a greater sense of cognitive realism than influence propagation or infectious transmission approaches, enabling the modeling of complex beliefs and contradictory objectives within an agent-based simulation. In this paper, we demonstrate the use of CSL for modeling norm emergence of recycling practices and public participation in a smoke-free campus initiative.

Many scenarios require that robots work together as a team in order to effectively accomplish their tasks. However, pre-coordinating these teams may not always be possible given the growing number of companies and research labs creating these robots. Therefore, it is desirable for robots to be able to reason about ad hoc teamwork and adapt to new teammates on the fly. Past research on ad hoc teamwork has focused on relatively simple domains, but this paper demonstrates that agents can reason about ad hoc teamwork in complex scenarios. To handle these complex scenarios, we introduce a new algorithm, PLASTIC–Policy, that builds on an existing ad hoc teamwork approach. Specifically, PLASTIC– Policy learns policies to cooperate with past teammates and reuses these policies to quickly adapt to new teammates. This approach is tested in the 2D simulation soccer league of RoboCup using the half field offense task.

Online, sample-based planning algorithms for POMDPs have shown great promise in scaling to problems with large state spaces, but they become intractable for large action and observation spaces. This is particularly problematic in multiagent POMDPs where the action and observation space grows exponentially with the number of agents. To combat this intractability, we propose a novel scalable approach based on sample-based planning and factored value functions that exploits structure present in many multiagent settings. This approach applies not only in the planning case, but also in the Bayesian reinforcement learning setting. Experimental results show that we are able to provide high quality solutions to large multiagent planning and learning problems.

Many multiagent applications require an agent to learn quickly how to interact with previously unknown other agents. To address this problem, researchers have studied learning algorithms which compute posterior beliefs over a hypothesised set of policies, based on the observed actions of the other agents. The posterior belief is complemented by the prior belief, which specifies the subjective likelihood of policies before any actions are observed. In this paper, we present the first comprehensive empirical study on the practical impact of prior beliefs over policies in repeated interactions. We show that prior beliefs can have a significant impact on the long-term performance of such methods, and that the magnitude of the impact depends on the depth of the planning horizon. Moreover, our results demonstrate that automatic methods can be used to compute prior beliefs with consistent performance effects. This indicates that prior beliefs could be eliminated as a manual parameter and instead be computed automatically.

In the analysis and diagnosis of many diseases, such as the Alzheimer's disease (AD), two important and related tasks are usually required: i) selecting genetic and phenotypical markers for diagnosis, and ii) identifying associations between genetic and phenotypical features. While previous studies treat these two tasks separately, they are tightly coupled due to the same underlying biological basis. To harness their potential benefits for each other, we propose a new sparse Bayesian approach to jointly carry out the two important and related tasks. In our approach, we extract common latent features from different data sources by sparse projection matrices and then use the latent features to predict disease severity levels; in return, the disease status can guide the learning of sparse projection matrices, which not only reveal interactions between data sources but also select groups of related biomarkers. In order to boost the learning of sparse projection matrices, we further incorporate graph Laplacian priors encoding the valuable linkage disequilibrium (LD) information. To efficiently estimate the model, we develop a variational inference algorithm. Analysis on an imaging genetics dataset for AD study shows that our model discovers biologically meaningful associations between single nucleotide polymorphisms (SNPs) and magnetic resonance imaging (MRI) features, and achieves significantly higher accuracy for predicting ordinal AD stages than competitive methods.

In multi-task learning, multiple related tasks are considered simultaneously, with the goal to improve the generalization performance by utilizing the intrinsic sharing of information across tasks. This paper presents a multi-task learning approach by modeling the task-feature relationships. Specifically, instead of assuming that similar tasks have similar weights on all the features, we start with the motivation that the tasks should be related in terms of subsets of features, which implies a co-cluster structure. We design a novel regularization term to capture this task-feature co-cluster structure. A proximal algorithm is adopted to solve the optimization problem. Convincing experimental results demonstrate the effectiveness of the proposed algorithm and justify the idea of exploiting the task-feature relationships.

Accurate road speed predictions can help drivers in smart route planning. Although the issue has been studied previously, most existing work focus on arterial roads only, where sensors are configured closely for collecting complete real-time data. For collector roads where sensors sparsly cover, however, speed predictions are often ignored. With GPS-equipped floating car signals being available nowadays, we aim at forecasting collector road speeds by utilizing these signals. The main challenge compared with arterial roads comes from the missing data. In a time slot of the real case, over 90% of collector roads cannot be covered by enough floating cars. Thus most traditional approaches for arterial roads, relying on complete historical data, cannot be employed directly. Aiming at solving this problem, we propose a multi-view road speed prediction framework. In the first view, temporal patterns are modeled by a layered hidden Markov model; and in the second view, spatial patterns are modeled by a collective matrix factorization model. The two models are learned and inferred simultaneously in a co-regularized manner. Experiments conducted in the Beijing road network, based on 10K taxi signals in 2 years, have demonstrated that the approach outperforms traditional approaches by 10% in MAE and RMSE.