Use of game theoretical models to derive randomized mobile robot patrolling strategies has recently received a growing attention. We focus on the problem of patrolling environments with arbitrary topologies using multiple robots. We address two important issues cur rently open in the literature. We determine the smallest number of robots needed to patrol a given environment and we compute the optimal patrolling strategies along several coordination dimensions. Finally, we experimentally evaluate the proposed techniques.

Security games, and important class of Stackelberg games, are used in deployed decision-support tools in use by LAX police and the Federal Air Marshals Service. The algorithms used to solve these games find optimal randomized schedules to allocate security resources for infrastructure protection. Unfortunately, the state of the art algorithms either fail to scale or to provide a correct solution for large problems with arbitrary scheduling constraints. We introduce ASPEN, a branch-and-price approach that overcomes these limitations based on two key contributions: (i) A column-generation approach that exploits a novel network flow representation, avoiding a combinatorial explosion of schedule allocations; (ii) A branch-and-bound algorithm that generates bounds via a fast algorithm for solving security games with relaxed scheduling constraints. ASPEN is the first known method for efficiently solving massive security games with arbitrary schedules.

We consider the problem of manipulating elections via cloning candidates. In our model, a manipulator can replace each candidate c by one or more clones, i.e., new candidates that are so similar to  c  that each voter simply replaces  c  in his vote with the block of  c 's clones. The outcome of the resulting election may then depend on how each voter orders the clones within the block. We formalize what it means for a cloning manipulation to be successful (which turns out to be a surprisingly delicate issue), and, for a number of prominent voting rules, characterize the preference profiles for which a successful cloning manipulation exists. We also consider the model where there is a cost associated with producing each clone, and study the complexity of finding a minimum-cost cloning manipulation. Finally, we compare cloning with the related problem of control via adding candidates.

Finding the longest common subsequence (LCS) of multiple strings is an NP-hard problem, with many applications in the areas of bioinformatics and computational genomics. Although significant efforts have been made to address the problem and its special cases, the increasing complexity and size of biological data require more efficient methods applicable to an arbitrary number of strings. In this paper, a novel search algorithm, MLCS-A*, is presented for the general case of multiple LCS (or MLCS) problems. MLCS-A* is a variant of the A* algorithm. It maximizes a new heuristic estimate of the LCS in each search step so that the longest common subsequence can be found. As a natural extension of MLCS-A*, a fast algorithm, MLCS-APP, is also proposed to deal with large volume of biological data for which finding a LCS within reasonable time is impossible. The benchmark test shows that MLCS-APP is able to extract common subsequences close to the optimal ones and that MLCS-APP significantly outperforms existing heuristic approaches. When applied to 8 protein domain families, MLCS-APP produced more accurate results than existing multiple sequence alignment methods.

Web search engines respond to a query by returning more results than can be reasonably reviewed. These results typically include the title, link, and snippet of content from the target link. Each result has the potential to be useful or useless and thus reviewing it has a cost and potential benefit. This paper studies the behavior of a rational agent in this setting, whose objective is to maximize the probability of finding a satisfying result while minimizing cost. We propose two similar agents with different capabilities: one that only compares result snippets relatively and one that predicts from the result snippet whether the result will be satisfying. We prove that the optimal strategy for both agents is a stopping rule: the agent reviews a fixed number of results until the marginal cost is greater than the marginal expected benefit, maximizing the overall expected utility. Finally, we discuss the relationship between rational agents and search users and how our findings help us understand reviewing behaviors.

State-of-the-art branch-and-bound algorithms for the maximum clique problem (Maxclique) frequently use an upper bound based on a partition P of a graph into independent sets for a maximum clique of the graph, which cannot be very tight for imperfect graphs. In this paper we propose a new encoding from Maxclique into MaxSAT and use MaxSAT technology to improve the upper bound based on the partition P. In this way, the strength of specific algorithms for Maxclique in partitioning a graph and the strength of MaxSAT technology in propositional reasoning are naturally combined to solve Maxclique. Experimental results show that the approach is very effective on hard random graphs and on DIMACS Maxclique benchmarks, and allows to close an open DIMACS problem.

Consider the following problem: a human-robot team is actively In this paper, we explore the issues involved in engineering engaged in an urban search and rescue (USAR) scenario an automated planner to guide a robot towards maximizing inside a building of interest. The robot is placed inside net benefit accompanied with goal achievement in such this building, at the beginning of a long corridor; a sample scenarios. The planning problem that we face involves partial layout is presented in Figure 1. The human team member satisfaction (in that the robot has to weigh the rewards of has intimate knowledge of the building's layout, but is removed the soft goals against the cost of achieving them); it also requires from the scene and can only interact with the robot replanning ability (in that the robot has to modify its via on-board wireless audio communication. The corridor in current plan based on new goals that are added). An additional which the robot is located has doors leading off from either (perhaps more severe) complication is that the planner side into rooms, a fact known to the robot. However, unknown needs to handle goals involving objects whose existence is to the robot (and the human team member) is the possibility not known in the initial state (e.g., the location of the humans that these rooms may contain injured humans (victims).

We report a new error-aware monocular visual odometry method that only uses vertical lines, such as vertical edges of buildings and poles in urban areas as landmarks. Since vertical lines are easy to extract, insensitive to lighting conditions/ shadows, and sensitive to robot movements on the ground plane, they are robust features if compared with regular point features or line features. We derive a recursive visual odometry method based on the vertical line pairs. We analyze how errors are propagated and introduced in the continuous odometry process by deriving the closed form representation of covariance matrix. We formulate the minimum variance ego-motion estimation problem and present a method that outputs weights for different vertical line pairs. The resulting visual odometry method is tested in physical experiments and compared with two existing methods that are based on point features and line features, respectively. The experiment results show that our method outperforms its two counterparts in robustness, accuracy, and speed. The relative errors of our method are less than 2% in experiments.

Wikis are being increasingly used as a tool for conducting colla-borative writing assignments in today’s classrooms. However, Wikis in general (1) do not provide group formation methods to more specifically facilitate collaborative learning of the students and (2) suffer from typical problems of collaborative learning like detection of free-riding (earning credit without contribution). To improve the state of the art of the use of Wikis as a collaborative writing tool, we have designed and implemented ClassroomWiki - a Web-based collaborative Wiki that utilizes a set of learner pedagogy theories to provide multiagent-based tracking, modeling, and group formation functionalities. For the students, ClassroomWiki provides a Web interface for writing and revising their group’s Wiki and a topic-based forum for discussing their ideas during collaboration. When the students collaborate, ClassroomWiki’s agents track all student activities to learn a model of the students and use a Bayesian Network to learn a probabilistic mapping that describes the ability of a group of students with a specific set of models to work together. For the teacher, Clas-sroomWiki provides a framework that uses the learned student models and the mapping to form student groups to improve the collaborative learning of students. ClassroomWiki was deployed in three university-level courses and the results suggest that ClassroomWiki can (1) form better student groups that improve stu-dent learning and collaboration and (2) alleviate free-riding and allow the instructor to provide scaffolding by its multiagent-based tracking and modeling.

Partially Observable Markov Decision Processes (POMDPs) are a well-established and rigorous framework for sequential decision-making under uncertainty. POMDPs are well-known to be intractable to solve exactly, and there has been significant work on finding tractable approximation methods. One well-studied approach is to find a compression of the original POMDP by projecting the belief states to a lower-dimensional space. We present a novel dimensionality reduction method for POMDPs based on locality preserving non-negative matrix factorization. Unlike previous approaches, such as Krylov compression and regular non-negative matrix factorization, our approach preserves the local geometry of the belief space manifold. We present results on standard benchmark POMDPs showing improved performance over previously explored compression algorithms for POMDPs.