This paper presents an evaluation of 18 children's in-the-wild experiences with the autonomous robot arm performer NED (Never-Ending Dancer) within the Thingamabobas installation, showcased across the UK. We detail NED's design, including costume, behaviour, and human interactions, all integral to the installation. Our observational analysis revealed three key challenges in child-robot interactions: 1) Initiating and maintaining engagement, 2) Lack of robot expressivity and reciprocity, and 3) Unmet expectations. Our findings show that children are naturally curious, and adept at interacting with a robotic art performer. However, our observations emphasise the critical need to optimise human-robot interaction (HRI) systems through careful consideration of audience's capabilities, perceptions, and expectations, within the performative arts context, to enable engaging and meaningful experiences, especially for young audiences.

One of the challenges of human-swarm interaction (HSI) is how to manage the operator's workload. In order to do this, we propose a novel neurofeedback technique for the real-time measurement of workload using functional near-infrared spectroscopy (fNIRS). The objective is to develop a baseline for workload measurement in human-swarm interaction using fNIRS and to develop an interface that dynamically adapts to the operator's workload. The proposed method consists of using fNIRS device to measure brain activity, process this through a machine learning algorithm, and pass it on to the HSI interface. By dynamically adapting the HSI interface, the swarm operator's workload could be reduced and the performance improved.

Formal Modelling is often used as part of the design and testing process of software development to ensure that components operate within suitable bounds even in unexpected circumstances. In this paper, we use predictive formal modelling (PFM) at runtime in a human-swarm mission and show that this integration can be used to improve the performance of human-swarm teams. We recruited 60 participants to operate a simulated aerial swarm to deliver parcels to target locations. In the PFM condition, operators were informed of the estimated completion times given the number of drones deployed, whereas in the No-PFM condition, operators did not have this information. The operators could control the mission by adding or removing drones from the mission and thereby, increasing or decreasing the overall mission cost. The evaluation of human-swarm performance relied on four key metrics: the time taken to complete tasks, the number of agents involved, the total number of tasks accomplished, and the overall cost associated with the human-swarm task. Our results show that PFM modelling at runtime improves mission performance without significantly affecting the operator's workload or the system's usability.

We consider a setting where a team of humans oversee the coordination of multiple Unmanned Aerial Vehicles (UAVs) to perform a number of search tasks in dynamic environments that may cause the UAVs to drop out. Hence, we develop a set of multi-UAV supervisory control interfaces and a multi-agent coordination algorithm to support human decision making in this setting. To elucidate the resulting interactional issues, we compare manual and mixed-initiative task allocation in both static and dynamic environments in lab studies with 40 participants and observe that our mixed-initiative system results in lower workloads and better performance in re-planning tasks than one which only involves manual task allocation.

In task allocation for real-time domains, such as disaster response, a limited number of agents is deployed across a large area to carry out numerous tasks, each with its prerequisites, profit, time window and workload. To maximize profits while minimizing time penalties, agents need to cooperate by forming, disbanding and reforming coalitions. In this paper, we name this problem Multi-Agent Routing and Scheduling through Coalition formation (MARSC) and show that it generalizes the important Team Orienteering Problem with Time Windows. We propose a binary integer program and an anytime and scalable heuristic to solve it. Using public London Fire Brigade records, we create a dataset with 347588 tasks and a test framework that simulates the mobilization of firefighters. In problems with up to 150 agents and 3000 tasks, our heuristic finds solutions up to 3.25 times better than the Earliest Deadline First approach commonly used in real-time systems. Our results constitute the first large-scale benchmark for the MARSC problem.

Artificial Intelligence and Machine Learning are increasingly seen as key technologies for buildin g more decentralised and resilient energy grids, but researchers must consider the ethical and social implications of their use E nergy grids are undergoing rapid changes, requiring new ways both to process the large amounts of data generated from the power system, but also - increasingly - to take smart operational decisions [1]. On the data side, the UK and most EU countries have committed to a target of offering a smart meter to every home by 2020 [ 2 ], with similar monitoring being installed in other parts of the energy network. This has led to some to refer to a "data tsunami", requiri ng development of new machine learning techniques to deal with the e nsuing challenge of extracting useful information from this data - often in real time. Another trend is the use of AI techniques (such as those from multi - agent systems, computational gam e theory and decision making under uncertainty) to take autonomous allocation and control decisions. This is driven increasingly by the moves towards more decentralised energy systems, where prosumers (consumers with own micro - generation and storage) can g enerate and source their own electricity through peer - to - peer (P2P) trading in local energy markets and community energy schemes.

Major natural or man-made disasters such as Hurricane Katrina or the 9/11 terror attacks pose significant challenges for emergency responders. First, they have to develop an understanding of the unfolding event either using their own resources or through third-parties such as the local population and agencies. Second, based on the information gathered, they need to deploy their teams in a flexible manner, ensuring that each team performs tasks in The most effective way. Third, given the dynamic nature of a disaster space, and the uncertainties involved in performing rescue missions, information about the disaster space and the actors within it needs to be managed to ensure that responders are always acting on up-to-date and trusted information. Against this background, this paper proposes a novel disaster response system called HAC-ER. Thus HAC-ER interweaves humans and agents, both robotic and software, in social relationships that augment their individual and collective capabilities. To design HAC-ER, we involved end-users including both experts and volunteers in a several participatory design workshops, lab studies, and field trials of increasingly advanced prototypes of individual components of HAC-ER as well as the overall system. This process generated a number of new quantitative and qualitative results but also raised a number of new research questions. HAC-ER thus demonstrates how such Human-Agent Collectives (HACs) can address key challenges in disaster response. Specifically, we show how HAC-ER utilises crowdsourcing combined with machine learning to obtain most important situational awareness from large streams of reports posted by members of the public and trusted organisations. We then show how this information can inform human-agent teams in coordinating multi-UAV deployments, as well as task planning for responders on the ground. Finally, HAC-ER incorporates an infrastructure and the associated intelligence for tracking and utilising the provenance of information shared across the entire system to ensure its accountability. We individually validate each of these elements of HAC-ER and show how they perform against standard (non-HAC) baselines and also elaborate on the evaluation of the overall system.

Coalition formation is a fundamental type of interaction that involves the creation of coherent groupings of distinct, autonomous, agents in order to efficiently achieve their individual or collective goals. Forming effective coalitions is a major research challenge in the field of multi-agent systems. Central to this endeavour is the problem of determining which of the many possible coalitions to form in order to achieve some goal. This usually requires calculating a value for every possible coalition, known as the coalition value, which indicates how beneficial that coalition would be if it was formed. Once these values are calculated, the agents usually need to find a combination of coalitions, in which every agent belongs to exactly one coalition, and by which the overall outcome of the system is maximized. However, this coalition structure generation problem is extremely challenging due to the number of possible solutions that need to be examined, which grows exponentially with the number of agents involved. To date, therefore, many algorithms have been proposed to solve this problem using different techniques ranging from dynamic programming, to integer programming, to stochastic search all of which suffer from major limitations relating to execution time, solution quality, and memory requirements. With this in mind, we develop an anytime algorithm to solve the coalition structure generation problem. Specifically, the algorithm uses a novel representation of the search space, which partitions the space of possible solutions into sub-spaces such that it is possible to compute upper and lower bounds on the values of the best coalition structures in them. These bounds are then used to identify the sub-spaces that have no potential of containing the optimal solution so that they can be pruned. The algorithm, then, searches through the remaining sub-spaces very efficiently using a branch-and-bound technique to avoid examining all the solutions within the searched subspace(s). In this setting, we prove that our algorithm enumerates all coalition structures efficiently by avoiding redundant and invalid solutions automatically. Moreover, in order to effectively test our algorithm we develop a new type of input distribution which allows us to generate more reliable benchmarks compared to the input distributions previously used in the field. Given this new distribution, we show that for 27 agents our algorithm is able to find solutions that are optimal in 0.175% of the time required by the fastest available algorithm in the literature. The algorithm is anytime, and if interrupted before it would have normally terminated, it can still provide a solution that is guaranteed to be within a bound from the optimal one. Moreover, the guarantees we provide on the quality of the solution are significantly better than those provided by the previous state of the art algorithms designed for this purpose. For example, for the worst case distribution given 25 agents, our algorithm is able to find a 90% efficient solution in around 10% of time it takes to find the optimal solution.

In this paper, we present a novel decentralised management technique that allows electricity micro-storage devices, deployed within individual homes as part of a smart electricity grid, to converge to profitable and efficient behaviours. Specifically, we propose the use of software agents, residing on the users' smart meters, to automate and optimise the charging cycle of micro-storage devices in the home to minimise its costs, and we present a study of both the theoretical underpinnings and the implications of a practical solution, of using software agents for such micro-storage management. First, by formalising the strategic choice each agent makes in deciding when to charge its battery, we develop a game-theoretic framework within which we can analyse the competitive equilibria of an electricity grid populated by such agents and hence predict the best consumption profile for that population given their battery properties and individual load profiles. Our framework also allows us to compute theoretical bounds on the amount of storage that will be adopted by the population. Second, to analyse the practical implications of micro-storage deployments in the grid, we present a novel algorithm that each agent can use to optimise its battery storage profile in order to minimise its owner's costs. This algorithm uses a learning strategy that allows it to adapt as the price of electricity changes in real-time, and we show that the adoption of these strategies results in the system converging to the theoretical equilibria. Finally, we empirically evaluate the adoption of our micro-storage management technique within a complex setting, based on the UK electricity market, where agents may have widely varying load profiles, battery types, and learning rates. In this case, our approach yields savings of up to 14% in energy cost for an average consumer using a storage device with a capacity of less than 4.5 kWh and up to a 7% reduction in carbon emissions resulting from electricity generation (with only domestic consumers adopting micro-storage and, commercial and industrial consumers not changing their demand). Moreover, corroborating our theoretical bound, an equilibrium is shown to exist where no more than 48% of households would wish to own storage devices and where social welfare would also be improved (yielding overall annual savings of nearly £1.5B).