Special FRC Seminar - - Wednesday, October 24 @ Noon at NSH 1305 - - IROS Talk Practice Session

FRC Seminar Schedule


Wednesday, October 24 Noon

Speaker (1) Gil Jones Ph.D. Candidate Robotics Institute
Title Learning-enhanced Market-based Task Allocation for Oversubscribed Domains

Abstract: This paper presents a learning-enhanced market-based task allocation approach for oversubscribed domains. In oversubscribed domains all tasks cannot be completed within the required deadlines due to a lack of resources. We focus specifically on domains where tasks can be generated throughout the mission, tasks can have different levels of importance and urgency, and penalties areassessed for failed commitments. Therefore, agents must reason aboutpotentialfuture events before making task commitments. Within these constraints, existing market-based approaches to task allocation can handle task importanceand urgency, but do a poor job of anticipating future tasks, and are hence assessed a high number of penalties.



Speaker (2) Balajee Kannan Research Enginee Robotics Institute
Title Metrics for quantifying system performance in intelligent, fault-tolerant multi-robot teams

Abstract: The quality of the incorporated fault-tolerance has a direct impact on the overall performance of the system. Hence, being able to measure the extent and usefulness of fault-tolerance exhibited by the system would provide the designer with a useful analysis tool for better understanding the system as a whole. Unfortunately, it is difficult to quantify system fault-tolerance on its own for intelligent systems. A more useful metric for evaluation is the "effectiveness" measure offault-tolerance, i.e.,the influence of fault-tolerance towards improving overall performance determines the overall effectiveness or quality of thesystem.In this paper, we outline application-independent metrics to measure fault-tolerance within the context of system performance. In addition, we also outline potential methods to better interpret the obtained measures towards understanding the capabilities of the implemented system. Furthermore, a main focus of our approach is to capture the effect of intelligence, reasoning, or learning on the effective fault-tolerance of thesystem, rather than relying purely on traditional redundancy based measures.