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Darryn Reid

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University of California, San Diego

David Pierre Leibovitz

Carleton University

Universidad Nacional de Colombia (National University of Colombia)

Ucla

Massachusetts Institute of Technology (MIT)

Valeria de Paiva

University of Birmingham

Saint-Petersburg State University

Tomoyuki Ichiba

University of California, Santa Barbara

Jorge Lopes de Souza Leao

Universidade Federal do Rio de Janeiro (UFRJ)

F. Marcelo Vásconez Carrasco

Universidad de Cuenca, Ecuador

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Papers by Darryn Reid

Contextually aware intelligent control agents for heterogeneous swarms

Swarm intelligence, Mar 8, 2024

An emerging challenge in swarm shepherding research is to design effective and efficient artifici... more An emerging challenge in swarm shepherding research is to design effective and efficient artificial intelligence algorithms that maintain simplicity in their decision models, whilst increasing the swarm's abilities to operate in diverse contexts. We propose a methodology to design a context-aware swarm control intelligent agent (shepherd). We first use swarm metrics to recognise the type of swarm that the shepherd interacts with, then select a suitable parameterisation from its behavioural library for that particular swarm type. The design principle of our methodology is to increase the situation awareness (i.e. contents) of the control agent without sacrificing the low computational cost necessary for efficient swarm control. We demonstrate successful shepherding in both homogeneous and heterogeneous swarms.

Cyber-Cognitive CPC-Autonomy: TensorFlow and Deep Neural Tensor Networks

Mathematics of Autonomy, 2017

Cognitive Estimation in CPC-Autonomy: Recursive Bayesian Filters and FastSLAM Algorithms

Physics of the CPC-Autonomy: Port-Hamiltonian Dynamics and Control of Multi-Physical Networks

The distributed evaluation of join queries

Contextually Aware Intelligent Control Agents for Heterogeneous Swarms

Research Square (Research Square), Nov 28, 2022

An emerging challenge in swarm shepherding research is to design effective and efficient artifici... more An emerging challenge in swarm shepherding research is to design effective and efficient artificial intelligence algorithms that maintain a low-computational ceiling while increasing the swarm's abilities to operate in diverse contexts. We propose a methodology to design a context-aware swarm-control intelligent agent. The intelligent control agent (shepherd) first uses swarm metrics to recognise the type of swarm it interacts with to then select a suitable parameterisation from its behavioural library for that particular swarm type. The design principle of our methodology is to increase the situation awareness (i.e. contents) of the control agent without sacrificing the lowcomputational cost necessary for efficient swarm control. We demonstrate successful shepherding in both homogeneous and heterogeneous swarms.

CPC-Application: Using Wind Turbulence against a Team of UAVs

Appendix 1: The World of Tensors

Appendix 2: Classical Neural Networks and AI

CPC-Application: Autonomous Brain-Like Supervisor for a Swarm of Robots

Micro-Cognitive CPC-Autonomy: Quantum Computational Tensor Networks

Mathematics Of Autonomy: Mathematical Methods For Cyber-physical-cognitive Systems

An Autonomy Interrogative

Studies in systems, decision and control, 2018

Foundations of Trusted Autonomy

Studies in systems, decision and control, 2018

The series "Studies in Systems, Decision and Control" (SSDC) covers both new developments and adv... more The series "Studies in Systems, Decision and Control" (SSDC) covers both new developments and advances, as well as the state of the art, in the various areas of broadly perceived systems, decision making and control-quickly, up to date and with a high quality. The intent is to cover the theory, applications, and perspectives on the state of the art and future developments relevant to systems, decision making, control, complex processes and related areas, as embedded in the fields of engineering, computer science, physics, economics, social and life sciences, as well as the paradigms and methodologies behind them. The series contains monographs, textbooks, lecture notes and edited volumes in systems, decision making and control spanning the areas of Cyber

Turbulence and Shock-Waves in Crowd Dynamics

arXiv (Cornell University), May 16, 2011

In this paper we analyze crowd turbulence from both classical and quantum perspective. We analyze... more In this paper we analyze crowd turbulence from both classical and quantum perspective. We analyze various crowd waves and collisions using crowd macroscopic wave function. In particular, we will show that nonlinear Schrödinger (NLS) equation is fundamental for quantum turbulence, while its closed-form solutions include shock-waves, solitons and rogue waves, as well as planar de Broglie's waves. We start by modeling various crowd flows using classical fluid dynamics, based on Navier-Stokes equations. Then, we model turbulent crowd flows using quantum turbulence in Bose-Einstein condensation, based on modified NLS equation.

Collaborative Human-Agent Planning for Resilience

Springer eBooks, 2022

Intelligent agents powered by AI planning assist people in complex scenarios, such as managing te... more Intelligent agents powered by AI planning assist people in complex scenarios, such as managing teams of semi-autonomous vehicles. However, AI planning models may be incomplete, leading to plans that do not adequately meet the stated objectives, especially in unpredicted situations. Humans, who are apt at identifying and adapting to unusual situations, may be able to assist planning agents in these situations by encoding their knowledge into a planner at run-time. We investigate whether people can collaborate with agents by providing their knowledge to an agent using linear temporal logic (LTL) at run-time without changing the agent's domain model. We presented 24 participants with baseline plans for situations in which a planner had limitations, and asked the participants for workarounds for these limitations. We encoded these workarounds as LTL constraints. Results show that participants' constraints improved the expected return of the plans by 10% (p < 0.05) relative to baseline plans, demonstrating that human insight can be used in collaborative planning for resilience. However, participants used more declarative than control constraints over time, but declarative constraints produced plans less similar to the expectation of the participants, which could lead to potential trust issues.

The standardisation problem: managing the obstacles to multilateral standardisation and interoperability in networks

Australian Defence Force Journal, 2008

Geometrical and Topological Duality in Crowd Dynamics

International Journal of Biomathematics, Dec 1, 2010

The purpose of this paper is to establish strong theoretical basis for solving practical problems... more The purpose of this paper is to establish strong theoretical basis for solving practical problems in modeling the behavior of crowds. Based on the previously developed (entropic) geometrical model of crowd behavior dynamics, in this paper we formulate two duality theorems related to the crowd manifold. Firstly, we formulate the geometrical crowd-duality theorem and prove it using Lie-functorial and Riemannian proofs. Secondly, we formulate the topological crowd-duality theorem and prove it using cohomological and homological proofs. After that we discuss the related question of the connection between Lagrangian and Hamiltonian crowd-duality, and finally establish the globally dual structure of crowd dynamics. All used terms from algebraic topology are defined in Appendix A.

Incorporating processor costs in optimizing the distributed execution of join queries

Mathematical and Computer Modelling, Aug 1, 1994

The processing of a join query in a distributed environment exacts the usage of both the network ... more The processing of a join query in a distributed environment exacts the usage of both the network and its computational facilities. A formulation that accounts for both, and felicitously constructed as an integer linear program, is proposed. Information disseminated among the sites of a distributed system is to be amalgamated and presented to a user, in response to his request. Prom all possible strategies by which this might be achieved, one necessitating the smallest usage of system resources is to be chosen. The data transferal resources of the network are usually presumed to be of greatest significance, and therefore, an optimal strategy is most often defined to be one which minimizes the total transmission cost. One model conforming to this philosophy, appearing in [l], expediently takes the form of a linear integer program, and so forms the basis for further refinement. In the omission of processing costs, the various processor elements of the network are treated homologously; dissimilarities in processing ability are also ignored. By analyzing the nature of join computations at a single processor, the minimal transmission cost model can be hybridized to incorporate the cost of such computations and differences in processing power.

Optimal distributed execution of join queries

Computers & mathematics with applications, Jul 1, 1994

It is proposed that the execution of a chain query in a distributed system can be usefully and ap... more It is proposed that the execution of a chain query in a distributed system can be usefully and appropriately modeled as an integer linear program. In response to a user request, information in the form of relational tables scattered across the network is to be combined and made available to the user. The formulation initially attained by considering the behavior of the distributed system in processing such a query is then reduced by removing redundant linear constraints, to produce a model of minimal transmission cost execution. In view of varying properties displayed by the possibly many optima of this problem, further attention is devoted to discriminating between them. By perturbing the objective function, those solutions requiring fewer network transmissions can be favored at the expense of equal-cost, but more complicated, strategies. This includes those strategies that may specify the transmission of a relation around a cycle; when the costs of transmission between sites forming the cycle are zero, such a solution might otherwise be optimal. Many different ways have been devised to solve programs having some number of variables restricted to taking only integer values in some interval, and virtually any of these might be used to solve the join query model. One possible method, using a tree-search approach, is discussed here.

Contextually aware intelligent control agents for heterogeneous swarms

Swarm intelligence, Mar 8, 2024

An emerging challenge in swarm shepherding research is to design effective and efficient artifici... more An emerging challenge in swarm shepherding research is to design effective and efficient artificial intelligence algorithms that maintain simplicity in their decision models, whilst increasing the swarm's abilities to operate in diverse contexts. We propose a methodology to design a context-aware swarm control intelligent agent (shepherd). We first use swarm metrics to recognise the type of swarm that the shepherd interacts with, then select a suitable parameterisation from its behavioural library for that particular swarm type. The design principle of our methodology is to increase the situation awareness (i.e. contents) of the control agent without sacrificing the low computational cost necessary for efficient swarm control. We demonstrate successful shepherding in both homogeneous and heterogeneous swarms.

Cyber-Cognitive CPC-Autonomy: TensorFlow and Deep Neural Tensor Networks

Mathematics of Autonomy, 2017

Cognitive Estimation in CPC-Autonomy: Recursive Bayesian Filters and FastSLAM Algorithms

Physics of the CPC-Autonomy: Port-Hamiltonian Dynamics and Control of Multi-Physical Networks

The distributed evaluation of join queries

Contextually Aware Intelligent Control Agents for Heterogeneous Swarms

Research Square (Research Square), Nov 28, 2022

An emerging challenge in swarm shepherding research is to design effective and efficient artifici... more An emerging challenge in swarm shepherding research is to design effective and efficient artificial intelligence algorithms that maintain a low-computational ceiling while increasing the swarm's abilities to operate in diverse contexts. We propose a methodology to design a context-aware swarm-control intelligent agent. The intelligent control agent (shepherd) first uses swarm metrics to recognise the type of swarm it interacts with to then select a suitable parameterisation from its behavioural library for that particular swarm type. The design principle of our methodology is to increase the situation awareness (i.e. contents) of the control agent without sacrificing the lowcomputational cost necessary for efficient swarm control. We demonstrate successful shepherding in both homogeneous and heterogeneous swarms.

CPC-Application: Using Wind Turbulence against a Team of UAVs

Appendix 1: The World of Tensors

Appendix 2: Classical Neural Networks and AI

CPC-Application: Autonomous Brain-Like Supervisor for a Swarm of Robots

Micro-Cognitive CPC-Autonomy: Quantum Computational Tensor Networks

Mathematics Of Autonomy: Mathematical Methods For Cyber-physical-cognitive Systems

An Autonomy Interrogative

Studies in systems, decision and control, 2018

Foundations of Trusted Autonomy

Studies in systems, decision and control, 2018

The series "Studies in Systems, Decision and Control" (SSDC) covers both new developments and adv... more The series "Studies in Systems, Decision and Control" (SSDC) covers both new developments and advances, as well as the state of the art, in the various areas of broadly perceived systems, decision making and control-quickly, up to date and with a high quality. The intent is to cover the theory, applications, and perspectives on the state of the art and future developments relevant to systems, decision making, control, complex processes and related areas, as embedded in the fields of engineering, computer science, physics, economics, social and life sciences, as well as the paradigms and methodologies behind them. The series contains monographs, textbooks, lecture notes and edited volumes in systems, decision making and control spanning the areas of Cyber

Turbulence and Shock-Waves in Crowd Dynamics

arXiv (Cornell University), May 16, 2011

In this paper we analyze crowd turbulence from both classical and quantum perspective. We analyze... more In this paper we analyze crowd turbulence from both classical and quantum perspective. We analyze various crowd waves and collisions using crowd macroscopic wave function. In particular, we will show that nonlinear Schrödinger (NLS) equation is fundamental for quantum turbulence, while its closed-form solutions include shock-waves, solitons and rogue waves, as well as planar de Broglie's waves. We start by modeling various crowd flows using classical fluid dynamics, based on Navier-Stokes equations. Then, we model turbulent crowd flows using quantum turbulence in Bose-Einstein condensation, based on modified NLS equation.

Collaborative Human-Agent Planning for Resilience

Springer eBooks, 2022

Intelligent agents powered by AI planning assist people in complex scenarios, such as managing te... more Intelligent agents powered by AI planning assist people in complex scenarios, such as managing teams of semi-autonomous vehicles. However, AI planning models may be incomplete, leading to plans that do not adequately meet the stated objectives, especially in unpredicted situations. Humans, who are apt at identifying and adapting to unusual situations, may be able to assist planning agents in these situations by encoding their knowledge into a planner at run-time. We investigate whether people can collaborate with agents by providing their knowledge to an agent using linear temporal logic (LTL) at run-time without changing the agent's domain model. We presented 24 participants with baseline plans for situations in which a planner had limitations, and asked the participants for workarounds for these limitations. We encoded these workarounds as LTL constraints. Results show that participants' constraints improved the expected return of the plans by 10% (p < 0.05) relative to baseline plans, demonstrating that human insight can be used in collaborative planning for resilience. However, participants used more declarative than control constraints over time, but declarative constraints produced plans less similar to the expectation of the participants, which could lead to potential trust issues.

The standardisation problem: managing the obstacles to multilateral standardisation and interoperability in networks

Australian Defence Force Journal, 2008

Geometrical and Topological Duality in Crowd Dynamics

International Journal of Biomathematics, Dec 1, 2010

The purpose of this paper is to establish strong theoretical basis for solving practical problems... more The purpose of this paper is to establish strong theoretical basis for solving practical problems in modeling the behavior of crowds. Based on the previously developed (entropic) geometrical model of crowd behavior dynamics, in this paper we formulate two duality theorems related to the crowd manifold. Firstly, we formulate the geometrical crowd-duality theorem and prove it using Lie-functorial and Riemannian proofs. Secondly, we formulate the topological crowd-duality theorem and prove it using cohomological and homological proofs. After that we discuss the related question of the connection between Lagrangian and Hamiltonian crowd-duality, and finally establish the globally dual structure of crowd dynamics. All used terms from algebraic topology are defined in Appendix A.

Incorporating processor costs in optimizing the distributed execution of join queries

Mathematical and Computer Modelling, Aug 1, 1994

The processing of a join query in a distributed environment exacts the usage of both the network ... more The processing of a join query in a distributed environment exacts the usage of both the network and its computational facilities. A formulation that accounts for both, and felicitously constructed as an integer linear program, is proposed. Information disseminated among the sites of a distributed system is to be amalgamated and presented to a user, in response to his request. Prom all possible strategies by which this might be achieved, one necessitating the smallest usage of system resources is to be chosen. The data transferal resources of the network are usually presumed to be of greatest significance, and therefore, an optimal strategy is most often defined to be one which minimizes the total transmission cost. One model conforming to this philosophy, appearing in [l], expediently takes the form of a linear integer program, and so forms the basis for further refinement. In the omission of processing costs, the various processor elements of the network are treated homologously; dissimilarities in processing ability are also ignored. By analyzing the nature of join computations at a single processor, the minimal transmission cost model can be hybridized to incorporate the cost of such computations and differences in processing power.

Optimal distributed execution of join queries

Computers & mathematics with applications, Jul 1, 1994

It is proposed that the execution of a chain query in a distributed system can be usefully and ap... more It is proposed that the execution of a chain query in a distributed system can be usefully and appropriately modeled as an integer linear program. In response to a user request, information in the form of relational tables scattered across the network is to be combined and made available to the user. The formulation initially attained by considering the behavior of the distributed system in processing such a query is then reduced by removing redundant linear constraints, to produce a model of minimal transmission cost execution. In view of varying properties displayed by the possibly many optima of this problem, further attention is devoted to discriminating between them. By perturbing the objective function, those solutions requiring fewer network transmissions can be favored at the expense of equal-cost, but more complicated, strategies. This includes those strategies that may specify the transmission of a relation around a cycle; when the costs of transmission between sites forming the cycle are zero, such a solution might otherwise be optimal. Many different ways have been devised to solve programs having some number of variables restricted to taking only integer values in some interval, and virtually any of these might be used to solve the join query model. One possible method, using a tree-search approach, is discussed here.