In this paper, we describe a pilot implementation and field test of a recently developed approach to real-time adaptive traffic signal control. The pilot system, called SURTRAC (Scalable Urban Traffic Control), follows the perspective of recent work in multi-agent planning and implements a decentralized, schedule-driven approach to traffic signal control. Under this approach, each intersection independently (and asynchronously) computes a schedule that optimizes the flow of currently approaching traffic through that intersection, and uses this schedule to decide when to switch green phases. The traffic outflows projected by this schedule are then communicated to the intersection's downstream neighbors, to increase visibility of vehicles entering their respective planning horizons. This process is repeated as frequently as once per second in rolling horizon fashion, to provide real-time responsiveness to changing traffic conditions and coordinated signal network behavior. After summarizing this basic approach to adaptive traffic signal control and the domain challenges it is intended to address, we describe the pilot implementation of SURTRAC and its application to a nine-intersection road network in Pittsburgh, Pennsylvania. Both the SURTRAC architecture for interfacing with the detection equipment, hardware controller and communication network at a given intersection and the extensions required to account for unreliable sensor data are discussed. Finally, we present the results of a pilot test of the system, where SURTRAC is seen to achieve major reductions in travel times and vehicle emissions over pre-existing signal timings.

This research focuses on building foundational algorithms for scheduling agents that assist people in managing their activities in environments where tempo and complex activity interdependencies outstrip people's cognitive capacity. We address the critical challenge of reasoning over individuals' interacting schedules to efficiently answer queries about how to meet scheduling goals while respecting individual privacy and autonomy to the extent possible. We formally define the Multiagent Simple Temporal Problem for naturally capturing and reasoning over the distributed but interconnected scheduling problems of multiple individuals. Our hypothesis is that combining bottom-up and top-down approaches will lead to effective solution techniques. In our bottom-up phase, an agent externalizes constraints that compactly summarize how its local subproblem affects other agents' subproblems, whereas in our top-down phase an agent proactively constructs and internalizes new local constraints that decouple its subproblem from others'. We confirm this hypothesis by devising distributed algorithms that calculate summaries of the joint solution space for multiagent scheduling problems, without centralizing or otherwise redistributing the problems. The distributed algorithms permit concurrent execution to achieve significant speedup over the current art and also increase the level of privacy and independence in individual agent reasoning. These algorithms are most advantageous for problems where interactions between the agents are sparse compared to the complexity of agents' individual problems.

This paper describes a method for automatically imitating a particular facial expression in an avatar through a hybrid Particle Swarm Optimization – Tabu Search algorithm. The muscular structures of the facial expressions are measured by Ekman and Friesen’s Facial Action Coding System (FACS). Using a neutral expression as a reference, the minute movements of the Action Units, used in FACS, are automatically tracked and mapped onto the avatar using a hybrid method. The hybrid algorithm is composed of Particle Swarm Optimization algorithm and Tabu Search. Distinguishable features portrayed on the avatar ensure a personalized, realistic imitation of the facial expressions. To evaluate the feasibility of using PSO-TS in this approach, a fundamental proof-of-concept test is employed on the system using the OGRE avatar. Results are described and discussed.

Educators who wish to engage their students in multi-agent experimentation and learning need an inexpensive multi-robot system that leverages existing equipment and open-source software. This paper proposes Overwatch as an inexpensive educational tool for teaching and experimenting in multi-robot systems. The interaction of multiple agents within a single environment is an important area of study. It is vital that agents within the environment perceive other agents as intelligent, acting within the environment as cooperative teammates or as competitive members of another team. To do so, the system must meet three goals: first, to allow multiple robots to communicate and coordinate; second, to localize within a shared global coordinate system; third, to recognize their teammates and other teams. The cost and scale of such experimental platforms places them outside the reach of many educational institutions or limits the number of agents that are interacting within the system \cite{Liu201160}. The goal of Overwatch is to create an experimental platform for multi-agent systems that is comprised of much smaller, albeit less capable, robots, many of which are prevalent in academic institutions already. Making use of available open-source libraries and utilizing lower cost robots, such as Scribblers, allows for experiments with many agents. This enables Overwatch to fit into the budget limitations of an academic setting. The Overwatch platform provides the Scribblers with global localization capabilities. This paper presents the system in detail and includes experiments to show its ability to localize, interact with other agents, and coordinate behaviors with these other agents. Additionally, the details to setup this system are also included.

This study presents a new method for knowledge transfer in Multi-Population Cultural Algorithms (MPCA) through agent migration. This agent-based algorithm involves having individual agents using one of multiple pre-defined knowledge algorithms to de-termine behavior, and using the success of it and other agents to decide on which knowledge algorithms to use next. Two or more subpopulations with their own knowledge algorithm are created. The agents work in the same environment by only communicating with agents within their own subpopulation, and with two global belief spaces monitoring the effectiveness of each subpopulation. Agents transfer between the sub-populations regularly to further improve individual success. We use the "cone’s world" problem as test-bed. Experimental results reveal the impact of indi-vidual knowledge transfer on the target subpopula-tion’s belief space.

The Shapley value---probably the most important normative payoff division scheme in coalitional games---has recently been advocated as a useful measure of centrality in networks. However, although this approach has a variety of real-world applications (including social and organisational networks, biological networks and communication networks), its computational properties have not been widely studied. To date, the only practicable approach to compute Shapley value-based centrality has been via Monte Carlo simulations which are computationally expensive and not guaranteed to give an exact answer. Against this background, this paper presents the first study of the computational aspects of the Shapley value for network centralities. Specifically, we develop exact analytical formulae for Shapley value-based centrality in both weighted and unweighted networks and develop efficient (polynomial time) and exact algorithms based on them. We empirically evaluate these algorithms on two real-life examples (an infrastructure network representing the topology of the Western States Power Grid and a collaboration network from the field of astrophysics) and demonstrate that they deliver significant speedups over the Monte Carlo approach. For instance, in the case of unweighted networks our algorithms are able to return the exact solution about 1600 times faster than the Monte Carlo approximation, even if we allow for a generous 10% error margin for the latter method.

In experimental tests of human behavior in unstructured bargaining games, typically many joint utility outcomes are found to occur, not just one. This suggests we predict the outcome of such a game as a probability distribution. This is in contrast to what is conventionally done (e.g, in the Nash bargaining solution), which is predict a single outcome. We show how to translate Nash's bargaining axioms to provide a distribution over outcomes rather than a single outcome. We then prove that a subset of those axioms forces the distribution over utility outcomes to be a power-law distribution. Unlike Nash's original result, our result holds even if the feasible set is finite. When the feasible set is convex and comprehensive, the mode of the power law distribution is the Harsanyi bargaining solution, and if we require symmetry it is the Nash bargaining solution. However, in general these modes of the joint utility distribution are not the experimentalist's Bayes-optimal predictions for the joint utility. Nor are the bargains corresponding to the modes of those joint utility distributions the modes of the distribution over bargains in general, since more than one bargain may result in the same joint utility. After introducing distributional bargaining solution concepts, we show how an external regulator can use them to optimally design an unstructured bargaining scenario. Throughout we demonstrate our analysis in computational experiments involving flight rerouting negotiations in the National Airspace System. We emphasize that while our results are formulated for unstructured bargaining, they can also be used to make predictions for noncooperative games where the modeler knows the utility functions of the players over possible outcomes of the game, but does not know the move spaces the players use to determine those outcomes.

The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (for example, Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.

Interactive narrative is a form of digital interactive experience in which users create or influence a dramatic storyline through their actions. The goal of an interactive narrative system is to immerse the user in a virtual world such that he or she believes that they are an integral part of an unfolding story and that their actions can significantly alter the direction and/or outcome of the story.In this article we review the ways in which artificial intelligence can be brought to bear on the creation of interactive narrative systems. We lay out the landscape of about 20 years of interactive narrative research and explore the successes as well as open research questions pertaining to the novel use of computational narrative intelligence in the pursuit of entertainment, education, and training.

This article presents the state-of-the-art in optimal solution methods for decentralized partially observable Markov decision processes (Dec-POMDPs), which are general models for collaborative multiagent planning under uncertainty. Building off the generalized multiagent A* (GMAA*) algorithm, which reduces the problem to a tree of one-shot collaborative Bayesian games (CBGs), we describe several advances that greatly expand the range of Dec-POMDPs that can be solved optimally. First, we introduce lossless incremental clustering of the CBGs solved by GMAA*, which achieves exponential speedups without sacrificing optimality. Second, we introduce incremental expansion of nodes in the GMAA* search tree, which avoids the need to expand all children, the number of which is in the worst case doubly exponential in the node's depth. This is particularly beneficial when little clustering is possible. In addition, we introduce new hybrid heuristic representations that are more compact and thereby enable the solution of larger Dec-POMDPs. We provide theoretical guarantees that, when a suitable heuristic is used, both incremental clustering and incremental expansion yield algorithms that are both complete and search equivalent. Finally, we present extensive empirical results demonstrating that GMAA*-ICE, an algorithm that synthesizes these advances, can optimally solve Dec-POMDPs of unprecedented size.