This paper studies the trade-off between the degree of decentralization and the performance of a distributed controller in a linear-quadratic control setting. We study a system of interconnected agents over a graph and a distributed controller, called $\kappa$-distributed control, which lets the agents make control decisions based on the state information within distance $\kappa$ on the underlying graph. This controller can tune its degree of decentralization using the parameter $\kappa$ and thus allows a characterization of the relationship between decentralization and performance. We show that under mild assumptions, including stabilizability, detectability, and a subexponentially growing graph condition, the performance difference between $\kappa$-distributed control and centralized optimal control becomes exponentially small in $\kappa$. This result reveals that distributed control can achieve near-optimal performance with a moderate degree of decentralization, and thus it is an effective controller architecture for large-scale networked systems.

We shall have a hard look at ethics and try to extract insights in the form of abstract properties that might become tools. We want to connect ethics to games, talk about the performance of ethics, introduce curiosity into the interplay between competing and coordinating in well-performing ethics, and offer a view of possible developments that could unify increasing aggregates of entities. All this is under a long shadow cast by computational complexity that is quite negative about games. This analysis is the first step toward finding modeling aspects that might be used in AI ethics for integrating modern AI systems into human society.

Users on the internet usually require venues to provide better purchasing recommendations. This can be provided by a reputation system that processes ratings to provide recommendations. The rating aggregation process is a main part of reputation system to produce global opinion about the product quality. Naive methods that are frequently used do not consider consumer profiles in its calculation and cannot discover unfair ratings and trends emerging in new ratings. Other sophisticated rating aggregation methods that use weighted average technique focus on one or a few aspects of consumers profile data. This paper proposes a new reputation system using machine learning to predict reliability of consumers from consumer profile. In particular, we construct a new consumer profile dataset by extracting a set of factors that have great impact on consumer reliability, which serve as an input to machine learning algorithms. The predicted weight is then integrated with a weighted average method to compute product reputation score. The proposed model has been evaluated over three MovieLens benchmarking datasets, using 10-Folds cross validation. Furthermore, the performance of the proposed model has been compared to previous published rating aggregation models. The obtained results were promising which suggest that the proposed approach could be a potential solution for reputation systems. The results of comparison demonstrated the accuracy of our models. Finally, the proposed approach can be integrated with online recommendation systems to provide better purchasing recommendations and facilitate user experience on online shopping markets.

Machine learning models are nowadays ubiquitous in space missions, performing a wide variety of tasks ranging from the prediction of multivariate time series through the detection of specific patterns in the input data. Adopted models are usually deep neural networks or other complex machine learning algorithms providing predictions that are opaque, i.e., human users are not allowed to understand the rationale behind the provided predictions. Several techniques exist in the literature to combine the impressive predictive performance of opaque machine learning models with human-intelligible prediction explanations, as for instance the application of symbolic knowledge extraction procedures. In this paper are reported the results of different knowledge extractors applied to an ensemble predictor capable of reproducing cosmic-ray data gathered on board the LISA Pathfinder space mission. A discussion about the readability/fidelity trade-off of the extracted knowledge is also presented.

On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially with the number of agents. However, in industrial applications, it is important to find feasible, suboptimal solutions, in a time that grows polynomially with the number of agents. Such algorithms exist for undirected and biconnected directed graphs. Our main contribution is to generalize these algorithms to the more general case of strongly connected directed graphs. In particular, given a MAPF problem with at least two holes, we present an algorithm that checks the problem feasibility in linear time with respect to the number of nodes, and provides a feasible solution in polynomial time.

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress over the last $20$ years, and this has attracted widespread research interest and application in multiple fields such as computer vision and robotics. However, few methods have shown promising place recognition performance in complex real-world scenarios, where long-term and large-scale appearance changes usually result in failures. Additionally, there is a lack of an integrated framework amongst the state-of-the-art methods that can handle all of the challenges in place recognition, which include appearance changes, viewpoint differences, robustness to unknown areas, and efficiency in real-world applications. In this work, we survey the state-of-the-art methods that target long-term localization and discuss future directions and opportunities. We start by investigating the formulation of place recognition in long-term autonomy and the major challenges in real-world environments. We then review the recent works in place recognition for different sensor modalities and current strategies for dealing with various place recognition challenges. Finally, we review the existing datasets for long-term localization and introduce our datasets and evaluation API for different approaches. This paper can be a tutorial for researchers new to the place recognition community and those who care about long-term robotics autonomy. We also provide our opinion on the frequently asked question in robotics: Do robots need accurate localization for long-term autonomy? A summary of this work and our datasets and evaluation API is publicly available to the robotics community at: https://github.com/MetaSLAM/GPRS.

Joint caching and transmission optimization problem is challenging due to the deep coupling between decisions. This paper proposes an iterative distributed multi-agent learning approach to jointly optimize caching and transmission. The goal of this approach is to minimize the total transmission delay of all users. In this iterative approach, each iteration includes caching optimization and transmission optimization. A multi-agent reinforcement learning (MARL)-based caching network is developed to cache popular tasks, such as answering which files to evict from the cache and which files to storage. Based on the cached files of the caching network, the transmission network transmits cached files for users by single transmission (ST) or joint transmission (JT) with multi-agent Bayesian learning automaton (MABLA) method. And then users access the edge servers with the minimum transmission delay. The experimental results demonstrate the performance of the proposed multi-agent learning approach.

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on intermittent, external information about the environment, as e.g., in underwater applications. The challenge in this case is that the robots must plan using only this stale data, while accounting for any noise in the data or uncertainty in the environment. To address this challenge we propose a compositional technique which leverages neural networks to quickly plan and control a robot through crowded and dynamic environments using only intermittent information. Specifically, our tool uses reachability analysis and potential fields to train a neural network that is capable of generating safe control actions. We demonstrate our technique both in simulation with an underwater vehicle crossing a crowded shipping channel and with real experiments with ground vehicles in communication- and sensor-limited environments.

This paper introduces a model of multi-unit organizations with either static structures, i.e., they are designed top-down following classical approaches to organizational design, or dynamic structures, i.e., the structures emerge over time from micro-level decisions. In the latter case, the units are capable of learning about the technical interdependencies of the task they face, and they use their knowledge by adapting the task allocation from time to time. In both static and dynamic organizations, searching for actions to increase the performance can either be carried out individually or collaboratively. The results indicate that (i) collaborative search processes can help overcome the adverse effects of inefficient task allocations as long as there is an internal fit with other organizational design elements, and (ii) for dynamic organizations, the emergent task allocation does not necessarily mirror the technical interdependencies of the task the organizations face, even though the same (or even higher) performances are achieved.

The analysis and control of large-population systems is of great interest to diverse areas of research and engineering, ranging from epidemiology over robotic swarms to economics and finance. An increasingly popular and effective approach to realizing sequential decision-making in multi-agent systems is through multi-agent reinforcement learning, as it allows for an automatic and model-free analysis of highly complex systems. However, the key issue of scalability complicates the design of control and reinforcement learning algorithms particularly in systems with large populations of agents. While reinforcement learning has found resounding empirical success in many scenarios with few agents, problems with many agents quickly become intractable and necessitate special consideration. In this survey, we will shed light on current approaches to tractably understanding and analyzing large-population systems, both through multi-agent reinforcement learning and through adjacent areas of research such as mean-field games, collective intelligence, or complex network theory. These classically independent subject areas offer a variety of approaches to understanding or modeling large-population systems, which may be of great use for the formulation of tractable MARL algorithms in the future. Finally, we survey potential areas of application for large-scale control and identify fruitful future applications of learning algorithms in practical systems. We hope that our survey could provide insight and future directions to junior and senior researchers in theoretical and applied sciences alike.