This article describes a model of a social agent, whose behavior can be stated in terms of basic ... more This article describes a model of a social agent, whose behavior can be stated in terms of basic moral mechanisms and norms. Morality is considered here as a flexible adaptive mechanism that allows agents to vary behavior depending on the environment conditions. The control system of the social agent is based on the emotional-needs architecture. This architecture allows to interpret the agent`s behavior in terms of empathy, sympathy and friend-foe relationships together with the mechanisms of imitative behavior and the identification of other observable agents with the subjective "I" concept. Experiments with this model are described, the main variable parameter of which was the tendency to sympathy. The objective of the experiments was to determine the dependence of the group "well-being" indicators on their altruism. The results obtained are quite consistent with the well-known sociological conclusions, which made it possible to say that the proposed behavioral...
The aim of the study was to develop a control system for a robotic wheelchair with an extensive u... more The aim of the study was to develop a control system for a robotic wheelchair with an extensive user interface that is able to support users with different impairments. Different concepts for a robotic wheelchair design for disabled people are discussed. The selected approach is based on a cognitive multimodal user interface to maximize autonomy of the wheelchair user and to allow him or her to communicate intentions by high-level instructions. Manual, voice, eye tracking, and BCI (brain-computer interface) signals can be used for strategic control whereas an intelligent autonomous system can perform low-level control. A semiotic model of the world processes sensory data and plans actions as a sequence of high-level tasks or behaviors for the control system. A software and hardware architecture for the robotic wheelchair and its multimodal user interface was proposed. This architecture supports several feedback types for the user including voice messages, screen output, as well as various light indications and tactile signals. The paper describes novel solutions that have been tested on real robotic devices. The prototype of the wheelchair uses a wide range of sensors such as a camera, range finders, and encoders to allow operator to move safely and provide object and scene recognition capabilities for the wheelchair. Dangerous behavior of the robot is interrupted by low-level reflexes. Additional high-level safety procedures can be implemented for the planning subsystem. The developed architecture allows utilizing user interfaces with a considerable time lag that are usually not suitable for traditional automated wheelchair control. This is achieved by increasing time allocated for processing of the interface modules, which is known to increase the accuracy of such interfaces as voice, eye tracking, and BCI. The increased latency of commands is mitigated by the increased automation of the wheelchair since high-level tasks can be given less frequently than manual control. The prospective solutions use a number of technologies based on registration of parameters of human physiological systems, including brain neural networks, in relation to the task of indirect control and interaction with mobile technical systems.
Scientific and Technical Information Processing, 2011
We examine the questions of applying large pyramidal neural (intellectual neuron) networks to sol... more We examine the questions of applying large pyramidal neural (intellectual neuron) networks to solve equipment object control problems. We consider the description of a system for dynamic planning of mobile robot behavior, constructed based on a network of similar elements.
Scientific and Technical Information Processing, 2016
This paper deals with mobile robot control-system (CS) architecture from the point of view of a s... more This paper deals with mobile robot control-system (CS) architecture from the point of view of a sign system. The approach is based on the interpretation of a sign as the symbol-denotation-signification triad in terms of the CS semantic network. It is shown how the mechanisms for the generation and perception of phrases can be implemented within the proposed approach. An important role in communication via language between robots is played by the emotion mechanism. The problem of the implementation of contagious behavior is considered as an example.
The fundamentals of synergetic artificial intelligence and its relationships with swarm intellige... more The fundamentals of synergetic artificial intelligence and its relationships with swarm intelligence are considered. Basic classifications of agents and multi-agent systems are presented, the comparison between intelligent and reactive agents is made. Different synergy sources for conventional group intelligence and swarm intelligence are elicited. The concepts of swarms, swarm intelligence and swarm robotics are discussed. The principles and models of swarm tasks distribution via local interactions are formulated. The results of experimental investigation of pack-hunting task are analyzed.
In this work we consider an environment exploration and mapping task for a group of heterogeneous... more In this work we consider an environment exploration and mapping task for a group of heterogeneous mobile robots. We propose a range of methods tied together in a hierarchical two-level control system. The distinguished features of the proposed system are the use of subdefinite models for robot localization as well as an original mechanism for local interaction. We present both theoretical and experimental results. On the experimental side of the study we conduct both simulation experiments as well as a real robotic swarm system investigation.
Work solutions are proposed for problems of leader definition and role distribution in homogeneou... more Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It was shown that transition from a swarm to a collective of robots with hierarchical organisation is possible using exclusively local interaction. The local re-voting algorithm is central to the procedure for choice of leader while distribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model characterised by the absence of a set control centre; it represents the network fixed at some time interval as a set of locally interacting agents. A task of cooperative hunting by distributed mobile robots based on local interaction was considered. Two strategies were used for the hunting task solution: individual hunting and pack-hunting. Simulation results showed that symbiosis of leader election and role distribution procedures has advantages over the individual strategy.
Work solutions are proposed for problems of leader definition and role distribution in homogeneou... more Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It is shown that transition from a swarm to a collective of robots with hierarchical organization is possible using exclusively local interaction. The local revoting algorithm is central to the procedure for choice of leader while redistribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model, which is characterized by the absence of a set control center and represents the network fixed at some time interval as a set of locally interacting agents.
Abstract This work explores a perspective on robotic behavior control based on mechanisms that ar... more Abstract This work explores a perspective on robotic behavior control based on mechanisms that are traditionally implicated in generation of emotions and temperament in humans. It is demonstrated that these complex psychological phenomena can be imitated by very simple means. At the heart of the emotional component of the robot’s architecture is Simonov’s Information Theory of Emotions. The main assumption of this theory is that emotions represent the brain’s estimate of any actual need of the individual together with the probability of its satisfaction. The temperamental component of the model controls the balance of excitation and inhibition within the robot’s cognitive architecture. Experiments were conducted with a couple of simple mobile autonomous robots. Experimental results demonstrate distinct types of behavioral temperament exhibited by the robot, including melancholic, choleric, sanguine and phlegmatic. These types of behavior are determined by “regulators of temperament” in the robot architecture. It is shown that emotions and temperament can be very useful for a robot in complex environments with unknown characteristics. Various in character environments can demand various types of behavior: in quickly changing environments the choleric behavior is more preferable and in stationary ones are phlegmatic, etc. In some sense, different psychological organization of a robot can be considered as a convenient mechanism of adaptation. Emotions and temperament as biologically inspired mechanisms allow us not only to describe but also to control the robot’s behavior in a natural form.
Proceedings of the 29th International DAAAM Symposium 2018, 2018
Possible methods of implementing aggression as one of the mechanisms in the formation of social b... more Possible methods of implementing aggression as one of the mechanisms in the formation of social behavior in groups of robots are discussed. Aggression is seen as a way to resolve conflicts over resources. The features of the aggressive behavior of eusocial insects (ants) are used as a basis. The aggressive component is integrated into the need-emotional architecture of the robot control system, which is presented as a hybrid neuro-production system. The proposed mechanism can be used as a base for implementing various models of social behavior in group robotics.
This article describes a model of a social agent, whose behavior can be stated in terms of basic ... more This article describes a model of a social agent, whose behavior can be stated in terms of basic moral mechanisms and norms. Morality is considered here as a flexible adaptive mechanism that allows agents to vary behavior depending on the environment conditions. The control system of the social agent is based on the emotional-needs architecture. This architecture allows to interpret the agent`s behavior in terms of empathy, sympathy and friend-foe relationships together with the mechanisms of imitative behavior and the identification of other observable agents with the subjective "I" concept. Experiments with this model are described, the main variable parameter of which was the tendency to sympathy. The objective of the experiments was to determine the dependence of the group "well-being" indicators on their altruism. The results obtained are quite consistent with the well-known sociological conclusions, which made it possible to say that the proposed behavioral...
The aim of the study was to develop a control system for a robotic wheelchair with an extensive u... more The aim of the study was to develop a control system for a robotic wheelchair with an extensive user interface that is able to support users with different impairments. Different concepts for a robotic wheelchair design for disabled people are discussed. The selected approach is based on a cognitive multimodal user interface to maximize autonomy of the wheelchair user and to allow him or her to communicate intentions by high-level instructions. Manual, voice, eye tracking, and BCI (brain-computer interface) signals can be used for strategic control whereas an intelligent autonomous system can perform low-level control. A semiotic model of the world processes sensory data and plans actions as a sequence of high-level tasks or behaviors for the control system. A software and hardware architecture for the robotic wheelchair and its multimodal user interface was proposed. This architecture supports several feedback types for the user including voice messages, screen output, as well as various light indications and tactile signals. The paper describes novel solutions that have been tested on real robotic devices. The prototype of the wheelchair uses a wide range of sensors such as a camera, range finders, and encoders to allow operator to move safely and provide object and scene recognition capabilities for the wheelchair. Dangerous behavior of the robot is interrupted by low-level reflexes. Additional high-level safety procedures can be implemented for the planning subsystem. The developed architecture allows utilizing user interfaces with a considerable time lag that are usually not suitable for traditional automated wheelchair control. This is achieved by increasing time allocated for processing of the interface modules, which is known to increase the accuracy of such interfaces as voice, eye tracking, and BCI. The increased latency of commands is mitigated by the increased automation of the wheelchair since high-level tasks can be given less frequently than manual control. The prospective solutions use a number of technologies based on registration of parameters of human physiological systems, including brain neural networks, in relation to the task of indirect control and interaction with mobile technical systems.
Scientific and Technical Information Processing, 2011
We examine the questions of applying large pyramidal neural (intellectual neuron) networks to sol... more We examine the questions of applying large pyramidal neural (intellectual neuron) networks to solve equipment object control problems. We consider the description of a system for dynamic planning of mobile robot behavior, constructed based on a network of similar elements.
Scientific and Technical Information Processing, 2016
This paper deals with mobile robot control-system (CS) architecture from the point of view of a s... more This paper deals with mobile robot control-system (CS) architecture from the point of view of a sign system. The approach is based on the interpretation of a sign as the symbol-denotation-signification triad in terms of the CS semantic network. It is shown how the mechanisms for the generation and perception of phrases can be implemented within the proposed approach. An important role in communication via language between robots is played by the emotion mechanism. The problem of the implementation of contagious behavior is considered as an example.
The fundamentals of synergetic artificial intelligence and its relationships with swarm intellige... more The fundamentals of synergetic artificial intelligence and its relationships with swarm intelligence are considered. Basic classifications of agents and multi-agent systems are presented, the comparison between intelligent and reactive agents is made. Different synergy sources for conventional group intelligence and swarm intelligence are elicited. The concepts of swarms, swarm intelligence and swarm robotics are discussed. The principles and models of swarm tasks distribution via local interactions are formulated. The results of experimental investigation of pack-hunting task are analyzed.
In this work we consider an environment exploration and mapping task for a group of heterogeneous... more In this work we consider an environment exploration and mapping task for a group of heterogeneous mobile robots. We propose a range of methods tied together in a hierarchical two-level control system. The distinguished features of the proposed system are the use of subdefinite models for robot localization as well as an original mechanism for local interaction. We present both theoretical and experimental results. On the experimental side of the study we conduct both simulation experiments as well as a real robotic swarm system investigation.
Work solutions are proposed for problems of leader definition and role distribution in homogeneou... more Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It was shown that transition from a swarm to a collective of robots with hierarchical organisation is possible using exclusively local interaction. The local re-voting algorithm is central to the procedure for choice of leader while distribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model characterised by the absence of a set control centre; it represents the network fixed at some time interval as a set of locally interacting agents. A task of cooperative hunting by distributed mobile robots based on local interaction was considered. Two strategies were used for the hunting task solution: individual hunting and pack-hunting. Simulation results showed that symbiosis of leader election and role distribution procedures has advantages over the individual strategy.
Work solutions are proposed for problems of leader definition and role distribution in homogeneou... more Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It is shown that transition from a swarm to a collective of robots with hierarchical organization is possible using exclusively local interaction. The local revoting algorithm is central to the procedure for choice of leader while redistribution of roles can be achieved by a wave method. The basis for this approach is the static swarm model, which is characterized by the absence of a set control center and represents the network fixed at some time interval as a set of locally interacting agents.
Abstract This work explores a perspective on robotic behavior control based on mechanisms that ar... more Abstract This work explores a perspective on robotic behavior control based on mechanisms that are traditionally implicated in generation of emotions and temperament in humans. It is demonstrated that these complex psychological phenomena can be imitated by very simple means. At the heart of the emotional component of the robot’s architecture is Simonov’s Information Theory of Emotions. The main assumption of this theory is that emotions represent the brain’s estimate of any actual need of the individual together with the probability of its satisfaction. The temperamental component of the model controls the balance of excitation and inhibition within the robot’s cognitive architecture. Experiments were conducted with a couple of simple mobile autonomous robots. Experimental results demonstrate distinct types of behavioral temperament exhibited by the robot, including melancholic, choleric, sanguine and phlegmatic. These types of behavior are determined by “regulators of temperament” in the robot architecture. It is shown that emotions and temperament can be very useful for a robot in complex environments with unknown characteristics. Various in character environments can demand various types of behavior: in quickly changing environments the choleric behavior is more preferable and in stationary ones are phlegmatic, etc. In some sense, different psychological organization of a robot can be considered as a convenient mechanism of adaptation. Emotions and temperament as biologically inspired mechanisms allow us not only to describe but also to control the robot’s behavior in a natural form.
Proceedings of the 29th International DAAAM Symposium 2018, 2018
Possible methods of implementing aggression as one of the mechanisms in the formation of social b... more Possible methods of implementing aggression as one of the mechanisms in the formation of social behavior in groups of robots are discussed. Aggression is seen as a way to resolve conflicts over resources. The features of the aggressive behavior of eusocial insects (ants) are used as a basis. The aggressive component is integrated into the need-emotional architecture of the robot control system, which is presented as a hybrid neuro-production system. The proposed mechanism can be used as a base for implementing various models of social behavior in group robotics.
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Papers by Valery Karpov