Index Catalog // ScholarsArchive@OSU

Theoretical and implementation improvements for difference evaluation functions

Creator:: Colby, Mitchell Kataichi
Abstract:: Multiagent learning with cooperative coevolutionary algorithms is a critical area of research, and is relevant to many real-world applications including air traffic control, distributed sensor network control, and game-theoretic applications such as border patrol. A key difficulty in multiagent learning is the credit assignment problem, where the impact of each...
Resource Type:: Dissertation

Q-Network Policy Selection For Multiagent Learning

Creator:: Cook, Joshua
Abstract:: Controllers for robotic systems can be complex and difficult to write by hand. Learning offers an approach to improve a controller through direct feedback. Learning is not trivial, as the feedback does not tell the agent how to improve, only how well its current actions solve the given task. Learning...
Resource Type:: Honors College Thesis

Optimizing ballast design of wave energy converters using evolutionary algorithms

Creator:: Colby, Mitchell
Abstract:: Wave Energy Converters (WECs) promise to be a viable alternative to current electrical generation methods. However, these WECs must become more efficient before wide-scale industrial use can become cost-effective. The efficiency of a WEC is primarily dependent upon its geometry and ballast configuration which are both difficult to evaluate, due...
Resource Type:: Masters Thesis

Navigation and coordination of autonomous mobile robots with limited resources

Creator:: Knudson, Matthew D.
Abstract:: The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...
Resource Type:: Dissertation

Multiagent learning for locomotion and coordination in tensegrity robotics

Creator:: Iscen, Atil
Abstract:: Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
Resource Type:: Dissertation

Multi-Objective Optimization in Multiagent Systems

Creator:: Yliniemi, Logan Michael
Abstract:: Cooperative multiagent systems are used as solution concepts in many application domains including air traffic control, satellite communications, and extra planetary exploration. As systems become more distributed and complex, we observe three phenomena. First, these systems cannot be accurately modeled, rendering traditional model based control methods inadequate. Second, system parameters...
Resource Type:: Dissertation

Learning-based control and coordination of autonomous UAVs

Creator:: Bell, Adam R.
Abstract:: Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be...
Resource Type:: Masters Thesis

Learning from action not taken in multiagent systems

Creator:: Khani, Newsha
Abstract:: Coordination in large multiagent systems in order to achieve a system level goal is a critical challenge. Given the agents' intention to cooperate, there is no guarantee that the agent actions will lead to good system objective especially when the system becomes large. One of the primary difficulties in such...
Resource Type:: Masters Thesis

Learning based methods applied to the MAV control problem

Creator:: Salichon, Max
Abstract:: This thesis addresses Micro Aerial Vehicle (MAV) control by leveraging learning based techniques to improve robustness of the control system. Applying classical control methods to MAVs is a difficult process due to the complexity of the control laws with fast and highly non-linear dynamics. These methods are mostly based on...
Resource Type:: Dissertation

Condensing observation of locale and agents : a state representation

Creator:: Valenti, Brett A
Abstract:: Computing agents require state information to make coherent and useful decisions. A state representation is a numerical translation of the environment and conditions that are pertinent factors in an agent's decision making. Although many representations, when paired with clever learning algorithms, are able to coordinate and capture prey in specific...
Resource Type:: Masters Thesis

Combining coordination mechanisms to improve performance in multi-robot teams

Creator:: Nasroullahi, Ehsan
Abstract:: Coordination is essential to achieving good performance in cooperative multiagent systems. To date, most work has focused on either implicit or explicit coordination mechanisms, while relatively little work has focused on the benefits of combining these two approaches. In this work we demonstrate that combining explicit and implicit mechanisms can...
Resource Type:: Masters Thesis

Coevolution and transfer learning in a point-to-point fleet coordination problem

Creator:: Yliniemi, Logan Michael
Abstract:: In this work we present a multiagent Fleet Coordination Problem (FCP). In this formulation, agents seek to minimize the fuel consumed to complete all deliveries while maintaining acceptable on-time delivery performance. Individual vehicles must both (i) bid on the rights to deliver a load of goods from origin to destination...
Resource Type:: Masters Thesis

CLEAN learning to improve coordination and scalability in multiagent systems

Creator:: HolmesParker, Chris
Abstract:: Recent advances in multiagent learning have led to exciting new capabilities spanning fields as diverse as planetary exploration, air traffic control, military reconnaissance, and airport security. Such algorithms provide a tangible benefit over traditional control algorithms in that they allow fast responses, adapt to dynamic environments, and generally scale well....
Resource Type:: Dissertation

Applying hierarchical and adaptive control to coordinating simple robots

Creator:: Knudson, Matthew D.
Abstract:: Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...
Resource Type:: Masters Thesis

Adaptive Multiagent Traffic Management for Autonomous Robotic Systems

Creator:: Rebhuhn, Carrie
Abstract:: There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
Resource Type:: Dissertation

Adaptive methods for robust commercial vehicle control

Creator:: Junell, Jaime L.
Abstract:: This thesis explores the implementation of learning based control with predictive cruise control and the potential this technology has for increasing fuel efficiency while keeping on a well maintained schedule for commercial trucks. Traditional cruise control is wasteful when maintaining a constant velocity over rolling hills. Predictive cruise control is...
Resource Type:: Masters Thesis

A neuro-evolutionary multiagent approach to multi-linked inverted pendulum control

Creator:: Sills, Stephen
Abstract:: Recent work has shown humanoid robots with spinal columns, instead of rigid torsos, benefit from both better balance and an increased ability to absorb external impact. Similarly, snake robots have shown promise as a viable option for exploration in confined spaces with limited human access, such as during power plant...
Resource Type:: Masters Thesis

A multiagent approach to identifying innovation in design components

Creator:: Rebhuhn, Carrie M.
Abstract:: Innovation is a key element for a product to achieve market success, but identifying it within product or even defining the term is a difficult task. Identifying innovation has been approached in many different ways. Experts in design engineering may identify innovative designs based on an analysis of a product's...
Resource Type:: Masters Thesis

A hierarchical neuro-evolutionary approach to small quadrotor control

Creator:: Shepherd, Jack F., III
Abstract:: Quadrotors are unique among Micro Aerial Vehicles in providing excellent maneuverability (as opposed to winged flight),while maintaing a simple mechanical construction (as opposed to helicopters). This mechanical simplicity comes at a cost of increased controller complexity. Quadrotors are inherently unstable, in the sense that they are essentially unflyable by a...
Resource Type:: Masters Thesis

ScholarsArchive@OSU

Theoretical and implementation improvements for difference evaluation functions

Q-Network Policy Selection For Multiagent Learning

Optimizing ballast design of wave energy converters using evolutionary algorithms

Navigation and coordination of autonomous mobile robots with limited resources

Multiagent learning for locomotion and coordination in tensegrity robotics

Multi-Objective Optimization in Multiagent Systems

Learning-based control and coordination of autonomous UAVs

Learning from action not taken in multiagent systems

Learning based methods applied to the MAV control problem

Condensing observation of locale and agents : a state representation

Combining coordination mechanisms to improve performance in multi-robot teams

Coevolution and transfer learning in a point-to-point fleet coordination problem

CLEAN learning to improve coordination and scalability in multiagent systems

Applying hierarchical and adaptive control to coordinating simple robots

Adaptive Multiagent Traffic Management for Autonomous Robotic Systems

Adaptive methods for robust commercial vehicle control

A neuro-evolutionary multiagent approach to multi-linked inverted pendulum control

A multiagent approach to identifying innovation in design components

A hierarchical neuro-evolutionary approach to small quadrotor control

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