• Title/Summary/Keyword: Multi-Agent Learning

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Cooperative Surveillance and Boundary Tracking with Multiple Quadrotor UAVs (복수 쿼드로터 무인기를 이용한 협업 감시 및 경계선 추종)

  • Lee, Hyeon Beom;Moon, Sung Won;Kim, Woo Jin;Kim, Hyoun Jin
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.5
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    • pp.423-428
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    • 2013
  • This paper investigates a boundary tracking problem using multiple quadrotor UAVs to detect and track the boundary of physical events. We set the boundary estimation problem as a classification problem of the region in which the physical events occur, and employ SVL (Support Vector Learning). We also demonstrate a velocity vector field which is globally attractive to a desired closed path with circulation at the desired speed and a virtual phase for stabilizing the collective configuration of the multiple quadrotors. Experimental results with multiple quadrotors show that this study provides good performance of the collective boundary tracking.

Developing artificial football agents based upon multi-agent techniques in the AI world cup (AI World Cup 환경을 이용한 멀티 에이전트 기반 지능형 가상 축구 에이전트 구현)

  • Lee, Eunhoo;Seong, Hyeon-ah;Jung, Minji;Lee, Hye-in;Joung, Jinoo;Lee, Eui Chul;Lee, Jee Hang
    • Proceedings of the Korea Information Processing Society Conference
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    • 2021.11a
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    • pp.819-822
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    • 2021
  • AI World Cup 환경은 다수 가상 에이전트들이 팀을 이뤄서 서로 상호작용하며 대전이 가능한 가상 축구 환경이다. 본 논문에서는 AI World Cup 환경에서 멀티 에이전트기반 학습/추론 기술을 사용하여 다양한 전략과 전술을 구사하는 가상 축구 에이전트 구현과 시뮬레이션 결과를 소개한다. 먼저, 역할을 바탕으로 협동하여 상대방과 대전할 수 있는 논리 기반 추론형 멀티 에이전트 기술이 적용된 Dynamic planning 축구 에이전트 9 세트를 구현하였다. 이후, 강화학습 에이전트 기반, 단일 에이전트를 조합한 Independent Q-Learning 방식의 학습형 축구 에이전트를 구현한 후, 이를 멀티 에이전트 강화학습으로 확장하여 역할 기반 전략 학습이 가능한 가상 축구 에이전트를 구현하고 시뮬레이션 하였다. 구현된 가상 축구 에이전트들 간 대전을 통해 승률을 확인하고, 전략의 우수성을 분석하였다. 시뮬레이션 예제는 다음에서 확인할 수 있다 (https://github.com/I-hate-Soccer/Simulation).

Development of Interactive Content Services through an Intelligent IoT Mirror System (지능형 IoT 미러 시스템을 활용한 인터랙티브 콘텐츠 서비스 구현)

  • Jung, Wonseok;Seo, Jeongwook
    • Journal of Advanced Navigation Technology
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    • v.22 no.5
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    • pp.472-477
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    • 2018
  • In this paper, we develop interactive content services for preventing depression of users through an intelligent Internet of Things(IoT) mirror system. For interactive content services, an IoT mirror device measures attention and meditation data from an EEG headset device and also measures facial expression data such as "sad", "angery", "disgust", "neutral", " happy", and "surprise" classified by a multi-layer perceptron algorithm through an webcam. Then, it sends the measured data to an oneM2M-compliant IoT server. Based on the collected data in the IoT server, a machine learning model is built to classify three levels of depression (RED, YELLOW, and GREEN) given by a proposed merge labeling method. It was verified that the k-nearest neighbor (k-NN) model could achieve about 93% of accuracy by experimental results. In addition, according to the classified level, a social network service agent sent a corresponding alert message to the family, friends and social workers. Thus, we were able to provide an interactive content service between users and caregivers.

Improvements of pursuit performance using episodic parameter optimization in probabilistic games (에피소드 매개변수 최적화를 이용한 확률게임에서의 추적정책 성능 향상)

  • Kwak, Dong-Jun;Kim, H.-Jin
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.40 no.3
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    • pp.215-221
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    • 2012
  • In this paper, we introduce an optimization method to improve pursuit performance of a pursuer in a pursuit-evasion game (PEG). Pursuers build a probability map and employ a hybrid pursuit policy which combines the merits of local-max and global-max pursuit policies to search and capture evaders as soon as possible in a 2-dimensional space. We propose an episodic parameter optimization (EPO) algorithm to learn good values for the weighting parameters of a hybrid pursuit policy. The EPO algorithm is performed while many episodes of the PEG are run repeatedly and the reward of each episode is accumulated using reinforcement learning, and the candidate weighting parameter is selected in a way that maximizes the total averaged reward by using the golden section search method. We found the best pursuit policy in various situations which are the different number of evaders and the different size of spaces and analyzed results.

Collision Avoidance Path Control of Multi-AGV Using Multi-Agent Reinforcement Learning (다중 에이전트 강화학습을 이용한 다중 AGV의 충돌 회피 경로 제어)

  • Choi, Ho-Bin;Kim, Ju-Bong;Han, Youn-Hee;Oh, Se-Won;Kim, Kwi-Hoon
    • KIPS Transactions on Computer and Communication Systems
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    • v.11 no.9
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    • pp.281-288
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    • 2022
  • AGVs are often used in industrial applications to transport heavy materials around a large industrial building, such as factories or warehouses. In particular, in fulfillment centers their usefulness is maximized for automation. To increase productivity in warehouses such as fulfillment centers, sophisticated path planning of AGVs is required. We propose a scheme that can be applied to QMIX, a popular cooperative MARL algorithm. The performance was measured with three metrics in several fulfillment center layouts, and the results are presented through comparison with the performance of the existing QMIX. Additionally, we visualize the transport paths of trained AGVs for a visible analysis of the behavior patterns of the AGVs as heat maps.

Multi-task Deep Neural Network Model for T1CE Image Synthesis and Tumor Region Segmentation in Glioblastoma Patients (교모세포종 환자의 T1CE 영상 생성 및 암 영역분할을 위한 멀티 태스크 심층신경망 모델)

  • Kim, Eunjin;Park, Hyunjin
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2021.05a
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    • pp.474-476
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    • 2021
  • Glioblastoma is the most common brain malignancies arising from glial cells. Early diagnosis and treatment plan establishment are important, and cancer is diagnosed mainly through T1CE imaging through injection of a contrast agent. However, the risk of injection of gadolinium-based contrast agents is increasing recently. Region segmentation that marks cancer regions in medical images plays a key role in CAD systems, and deep neural network models for synthesizing new images are also being studied. In this study, we propose a model that simultaneously learns the generation of T1CE images and segmentation of cancer regions. The performance of the proposed model is evaluated using similarity measurements including mean square error and peak signal-to-noise ratio, and shows average result values of 21 and 39 dB.

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A Study on Teaching-Learning and Evaluation Methods of Environmental Studies in the Middle School (중학교 "환경" 교과의 교수.학습 및 평가 방법 연구)

  • 남상준
    • Hwankyungkyoyuk
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    • v.7 no.1
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    • pp.1-17
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    • 1994
  • This study was performed to determine appropriate teaching-learning and evaluation methods for Environmental Studies. To promote the relevance of our study to the needs of the schools and concerned educational communities of environmental education, we reviewed related literature, conducted questionnaire surveys, interviewed related teachers and administrator, held meetings with experts, and field-tested our findings. For selecting and developing teaching-learning methods of Environmental Studies, findings of educational research in general are considered. moreover, principles of environmental education, general aim of environmental education, orientations of environmental education, and developmental stages of middle school students in educational psychology were attended. In addition, relevance to the purpose of the Environmental Studies curriculum, appropriateness for value inquiry as well as knowledge inquiry, small group centered class organization, social interaction centered teaching-learning process, regional environmental situation, significance of personal environment, evaluation methods of Environmental Studies, multi- and inter-disciplinary contents of the Environmental Studies textbook, suitability to the evaluation methods of Environmental Studies, and emphasis on the social interaction in teaching-learning process were regarded. It was learned the Environmental Studies can be taught most effectively in via of holding discussion sessions, conducting actual investigation, doing experiment-practice, doing games and plate, role-playing and carrying out simulation activities, and doing inquiry. These teaching-learning methods were field-tested and proved appropriate methods for the subject. For selecting and developing evaluation method of Environmental Studies, such principles and characteristics of Environmental Studies as objective domains stated in the Environmental Studies curriculum, diversity of teaching-learning organization, were appreciated. We categorized nine evaluation methods: the teacher may conduct questionnaire surveys, testings, interviews, non-participatory observations; they may evaluate student's experiment-practice performances, reports preparation ability, ability to establish a research project, the teacher may ask the students to conduct a self-evaluation, or reciprocal evaluation. To maximize the effect of these methods, we further developed an application system. It considered three variables, that is, evaluates, evaluation objectives domains, and evaluation agent, and showed how to choose the most appropriate methods and, when necessary, how to combine uses of different methods depending on these variables. A sample evaluation instrument made on the basis of this application system was developed and tested in the classes. The system proved effective. Pilot applications of the teaching-learning methods and evaluation method were made simultaneously; and the results and their implications are as follows. Discussion program was applied in a lesson dealing with the problems of waste disposal, in which students showed active participation and creative thinking. The evaluation method used in this lesson was a multiple-choice written test for knowledge and skills. It was shown that this evaluation method and device are effective in helping students' revision of the lesson and in stimulating their creative interpretations and responces. Pupils showed great interests in the actual investigation program, and this programme was proved to be effective in enhancing students' participation. However, it was also turned out that there must be pre-arranged plans for the objects, contents and procedures of survey if this program is to effective. In this lesson, non-participatory observation methods were used with a focus on the attitudes of students. A scaled reported in general description rather than in grade. Experiment-practice programme was adopted in a lesson for purifying contaminated water and in this lesson, instruction objectives were properly established, the teaching-learning process was clearly specified and students were highly motivated. On the other hand, however, it was difficult to control the class when some groups of students require more times to complete their experiment, and sometimes different results. As regards to evaluation, performance observation test were used for assessing skills and attitudes. If teachers use well-prepared Likert scale, evaluation of all groups within a reasonablely short period of time will be possible. The most effective and successful programme in therms of students' participation and enjoyment, was the 'ah-nah-bah-dah-market' program, which is kind of game of the flea market. For better organized program of this kind, however, are essential, In this program, students appraise their own attitudes and behavior by responding to a written questionnaire. In addition, students were asked to record any anecdotes relating to self-appraisal of changes on one's own attitudes and behaviours. Even after the lesson, students keep recording those changes on letters to herself. Role-playing and simulation game programme was applied to a case of 'NIMBY', in which students should decide where to located a refuse dumping ground. For this kind of programme to e successful, concepts and words used in the script should be appropriate for students' intellectual levels, and students should by adequately introduced into the objective and the procedures of the lessons. Written questionnaire was used to assess individual students' attitudes after the lesson, but in order to acquire information on the changes of students' attitudes and skills, pre-test may have to be made. Doing inquiry programme, in which advantages in which students actually investigated the environmental influence of the areas where school os located, had advantages in developing students' ability to study the environmental problems and to present the results of their studies. For this programme to be more efficient, areas of investigation should be clearly divided and alloted to each group so that repetition or overlap in areas of study and presentation be avoided, and complementary wok between groups bee enhanced. In this programme, teacher assessed students' knowledge and attitudes on the basis of reports prepared by each group. However, there were found some difficults in assessing students' attitudes and behaviours solely on the grounds of written report. Perhaps, using a scaled checklist assessing students' attitudes while their presentation could help to relieve the difficulties.

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Development of CCTV Cooperation Tracking System for Real-Time Crime Monitoring (실시간 범죄 모니터링을 위한 CCTV 협업 추적시스템 개발 연구)

  • Choi, Woo-Chul;Na, Joon-Yeop
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.12
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    • pp.546-554
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    • 2019
  • Typically, closed-circuit television (CCTV) monitoring is mainly used for post-processes (i.e. to provide evidence after an incident has occurred), but by using a streaming video feed, machine-based learning, and advanced image recognition techniques, current technology can be extended to respond to crimes or reports of missing persons in real time. The multi-CCTV cooperation technique developed in this study is a program model that delivers similarity information about a suspect (or moving object) extracted via CCTV at one location and sent to a monitoring agent to track the selected suspect or object when he, she, or it moves out of range to another CCTV camera. To improve the operating efficiency of local government CCTV control centers, we describe here the partial automation of a CCTV control system that currently relies upon monitoring by human agents. We envisage an integrated crime prevention service, which incorporates the cooperative CCTV network suggested in this study and that can easily be experienced by citizens in ways such as determining a precise individual location in real time and providing a crime prevention service linked to smartphones and/or crime prevention/safety information.