In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology. Agents can move to neighbor vertices across edges. In the standard MAPF, space occupation by agents is modeled by a capacity constraint that permits at most one agent per vertex. We suggest an extension of MAPF in this paper that permits more than one agent per vertex. Propositional satisfiability (SAT) models for these extensions of MAPF are studied. We focus on modeling capacity constraints in SAT-based formulations of MAPF and evaluation of performance of these models. We extend two existing SAT-based formulations with vertex capacity constraints: MDD-SAT and SMT-CBS where the former is an approach that builds the model in an eager way while the latter relies on lazy construction of the model.

Knowledge can be represented compactly in multiple ways, from a set of propositional formulas, to a Kripke model, to a database. In this paper we study the aggregation of information coming from multiple sources, each source submitting a database modelled as a first-order relational structure. In the presence of integrity constraints, we identify classes of aggregators that respect them in the aggregated database, provided these are satisfied in all individual databases. We also characterise languages for first-order queries on which the answer to a query on the aggregated database coincides with the aggregation of the answers to the query obtained on each individual database. This contribution is meant to be a first step on the application of techniques from social choice theory to knowledge representation in databases.

The Internet of Things (IoT) extends the Internet connectivity into billions of IoT devices around the world, which collect and share information to reflect the status of physical world. The Autonomous Control System (ACS), on the other hand, performs control functions on the physical systems without external intervention over an extended period of time. The integration of IoT and ACS results in a new concept - autonomous IoT (AIoT). The sensors collect information on the system status, based on which intelligent agents in IoT devices as well as Edge/Fog/Cloud servers make control decisions for the actuators to react. In order to achieve autonomy, a promising method is for the intelligent agents to leverage the techniques in the field of artificial intelligence, especially reinforcement learning (RL) and deep reinforcement learning (DRL) for decision making. In this paper, we first provide comprehensive survey of the state-of-art research, and then propose a general model for the applications of RL/DRL in AIoT. Finally, the challenges and open issues for future research are identified.

In this two-part work, we propose an algorithmic framework for solving non-convex problems whose objective function is the sum of a number of smooth component functions plus a convex (possibly non-smooth) or/and smooth (possibly non-convex) regularization function. The proposed algorithm incorporates ideas from several existing approaches such as alternate direction method of multipliers (ADMM), successive convex approximation (SCA), distributed and asynchronous algorithms, and inexact gradient methods. Different from a number of existing approaches, however, the proposed framework is flexible enough to incorporate a class of non-convex objective functions, allow distributed operation with and without a fusion center, and include variance reduced methods as special cases. Remarkably, the proposed algorithms are robust to uncertainties arising from random, deterministic, and adversarial sources. The part I of the paper develops two variants of the algorithm under very mild assumptions and establishes first-order convergence rate guarantees. The proof developed here allows for generic errors and delays, paving the way for different variance-reduced, asynchronous, and stochastic implementations, outlined and evaluated in part II.

We introduce a semantics for epistemic logic exploiting a belief base abstraction. Differently from existing Kripke-style semantics for epistemic logic in which the notions of possible world and epistemic alternative are primitive, in the proposed semantics they are non-primitive but are defined from the concept of belief base. We show that this semantics allows us to define the universal epistemic model in a simpler and more compact way than existing inductive constructions of it. We provide (i) a number of semantic equivalence results for both the basic epistemic language with "individual belief" operators and its extension by the notion of "only believing", and (ii) a lower bound complexity result for epistemic logic model checking relative to the universal epistemic model.

Judgment aggregation (JA) is concerned with aggregating sets of binary truth valuations assigned to logically related issues [27, 19]. Various collective decision making problems in artificial intelligence can be modelled as JA problems, e.g., problems of constructing agreements, such as finding a collective goal in multi-agent systems [36, 2]. In agreement reaching problems each agent in a group is a source of judgments and also typically affected by the collective choice resulting from the aggregation of individual judgments. For example, I am a citizen voting on a referendum that decided not to impose global warming curbing methods, but I am also a citizen that has to live with the consequences of that collective decision.

In addition to surrounding the students with digital projections of a scene, the environment uses several types of sensors to dynamically adapt to the students' words and actions. Microphones, worn by the participants, feed their audio directly into speech-recognition algorithms. Cameras track their movements and gestures to register when they point to various objects or walk up to different virtual agents. If a student points to a food dish in the restaurant scene and asks what it is, for example, a virtual agent can respond with the name and description. Narrative-generation technology also allows each agent to construct more sophisticated answers to off-the-cuff questions ("What's the dish's history?") using knowledge from Wikipedia.

We introduce Arena, a toolkit for multi-agent reinforcement learning (MARL) research. In MARL, it usually requires customizing observations, rewards and actions for each agent, changing cooperative-competitive agent-interaction, and playing with/against a third-party agent, etc. We provide a novel modular design, called Interface, for manipulating such routines in essentially two ways: 1) Different interfaces can be concatenated and combined, which extends the OpenAI Gym Wrappers concept to MARL scenarios. 2) During MARL training or testing, interfaces can be embedded in either wrapped OpenAI Gym compatible Environments or raw environment compatible Agents. We offer off-the-shelf interfaces for several popular MARL platforms, including StarCraft II, Pommerman, ViZDoom, Soccer, etc. The interfaces effectively support self-play RL and cooperative-competitive hybrid MARL. Also, Arena can be conveniently extended to your own favorite MARL platform.

From their first years of life, human beings have the innate ability to learn continuously and build mental models of the world, simply by observing and interacting with things or people in their surroundings. Cognitive psychology studies suggest that humans make extensive use of this previously acquired knowledge, particularly when they encounter new situations or when making decisions. Despite the significant recent advances in the field of artificial intelligence (AI), most virtual agents still require hundreds of hours of training to achieve human-level performance in several tasks, while humans can learn how to complete these tasks in a few hours or less. Recent studies have highlighted two key contributors to humans' ability to acquire knowledge so quickly--namely, intuitive physics and intuitive psychology. These intuition models, which have been observed in humans from early stages of development, might be the core facilitators of future learning.

Understanding human driving behavior is important for autonomous vehicles. In this paper, we propose an interpretable human behavior model in interactive driving scenarios based on the cumulative prospect theory (CPT). As a non-expected utility theory, CPT can well explain some systematically biased or ``irrational'' behavior/decisions of human that cannot be explained by the expected utility theory. Hence, the goal of this work is to formulate the human drivers' behavior generation model with CPT so that some ``irrational'' behavior or decisions of human can be better captured and predicted. Towards such a goal, we first develop a CPT-driven decision-making model focusing on driving scenarios with two interacting agents. A hierarchical learning algorithm is proposed afterward to learn the utility function, the value function, and the decision weighting function in the CPT model. A case study for roundabout merging is also provided as verification. With real driving data, the prediction performances of three different models are compared: a predefined model based on time-to-collision (TTC), a learning-based model based on neural networks, and the proposed CPT-based model. The results show that the proposed model outperforms the TTC model and achieves similar performance as the learning-based model with much less training data and better interpretability.