Possibilities at the Intersection of AI and Blockchain Technology

Total Page:16

File Type:pdf, Size:1020Kb

Possibilities at the Intersection of AI and Blockchain Technology International Journal of Innovative Technology and Exploring Engineering (IJITEE) ISSN: 2278-3075, Volume-9 Issue-1S, November 2019 Possibilities at the Intersection of AI and Blockchain Technology Smriti, Saru Dhir, Madhurima Hooda Block-chain as we know that is the distribution and decentralized storage of bulky data at various levels Abstract. Artificial intelligence and Blockchain are the without the involvement of intermediates. There are most trending technologies these days, where artificial intelligence offers intelligent decision-making capabilities huge possibilities by the convergence of AI and to machines which is similar to human beings and block-chain. In-fact they compliment each other in blockchain technology allows a decentralised pathway for every possible way. Like AI rely on centralized encrypted data sharing between ledgers in a secured model of training which makes it prone to data manner. Integration of both technologies forms a decentralised AI which enables the process of decision tampering which make authenticity of the source making on digitally encrypted platform for secure data unguaranteed thus integration of AI and block-chain sharing without involvement of any Third Party. This would provide decentralized AI which could enable paper gives a detail on the possibilities of intersection of machine to process and make decisions on trusted, AI and Blockchain. The paper also contains the issues and problems related to the respective integration. An digitally, signed and secured shared data in a Algorithm is proposed in two parts, based on one of the decentralized manner without involving given issues, which predicts the action plan of AI for intermediates thus we can say that block-chain destructing malware blocks in blockchain. provide secure data sharing and market-price for AI Keywords: Artificial Intelligence (AI), Blockchain, ,explanation to AI and helps in coordinating un- Decentralised AI, Technologies. trusted devices. Whereas AI provides secure and scalable block-chain, privacy-preservation to block- chain and provides proper governance to its data, so I. INTRODUCTION we can infer that block-chain and AI provides more explanation and trustworthy aspects to each other. I and block-chain, the two powerful technologies A Convergence of AI and block-chain would help in that are benefiting mankind in numerous ways. So we gaining a lot of progress in healthcare, business can imagine their integration revolutionizing our develop and research field as well. Decentralised AI future. AI or artificial intelligence is the cognitive is applicable in vehicle routing which helps in traffic functioning of machines which allows them to adapt control. It not only guarantees in avoiding existing according to the data collected or take respective congestion but also prevent it. It is used in initiation or decisions needed by machines. biomedical research and healthcare sector to accelerate biomedical analysis, empower patients to control their own data and helps in healthcare assistance by employing robots in elderly care [1]. Revised Manuscript Received on November 22, 2019. Chain intel is an open source platform which aim in * Correspondence Author reinforcing the implementation of AI model to Ms Smriti Jojo, B.Tech in Information Technology, from different fragment of networking. Thus helps in Amity School of Engineering & Technology, Amity University, Noida Saru Dhir, Software Engineering, Agile Development, tackling the security threats faced by internet. Software Testing, Cyber crime. Decentralised AI helps in intelligent precision Madhurima Hooda, Assistant Professor in the Discipline of Information Technology at Amity School of Engineering and farming as this technology can implement crop Technology, Amity University, Uttar Pradesh, Noida, India. variety selection, irrigation Published By: Retrieval Number: A10301191S19/2019©BEIESP 135 Blue Eyes Intelligence Engineering DOI: 10.35940/ijitee.A1030.1191S19 & Sciences Publication Possibilities at the Intersection of AI and Blockchain Technology method, reduce cost thus enhancing profits in huge level of confidentiality and safety to records. agriculture sector. Decentralised AI helps in ocean Therefore, they abolish centralised nature of AI by bed exploration as operations such as disaster relief big companies such as APPLE, GOOGLE, mission, landmine detection etc are challenging for FACEBOOK[5]. Partially homomorphic encryption humans to work. Decentralised AI is used in banking such as Goldwasser-Micali,Pallier encryption scheme industry in handling fluctuating range and inherent provides protection for safer transaction and protects volatility of cryptocurrency. Decentralised AI is used confidential aspect of trading parties[6]. Mylrea and in property management sector to abolish Gourisetti explored the potential of blockchain in monopolistic power exercised by firms and by modernizing and automating energy and IOT. They comparative market analysis. This technology is highlighted on AI solutions in energy resource adopted by the Singapore government as “SMART transfer in a decentralised environment by encryption NATION” to abolish the superiority of sellers above technology [7]. Strobel et al [8] proposed a concept investors and buyers [2]. Decentralised EHR called of resolving issues concerned with swarm robotic MedRec is made to take part in POW. So that miners ecosystem using blockchain. In this, Author used can extract data for targeted research and for proper smart contracts as it is decentralised in nature to build medication purpose [3]. a systematized swarm mechanism to eliminate Partial homomorphic encryption based on integration Byzantine members. Ekblaw et. al. developed a of blockchain and AI provides stronger privacy to the decentralised EHR MedRec. It encouraged medical applications. Blockchain reduces the expenditure on associations and EHR stake-holder participate in AI for providing data security by keeping an eye on POW as miners and in return allowed to access the its every possible steps. AI utilises blockchain for data. This prototype was developed and tested under promoting a trustworthy and a secure platform for an association with Harvard Medical school teaching sharing of decision results as well as knowledge. hospital [9]. Dubovitskaya et al advanced a different Blockchain provide trustlessness, privacy and prototype in distinction to MedRec.It provided a explainability to AI. AI and blockchain helps IOT in convenient access to the controlled EHR system.Thus agriculture sector by providing AI agents which it leads to the acceptance of cloud storage and access could increase the agro-supply chain process and to key transfers for encryption[10]. Peterson et al detect weather pattern and blockchain plays its part recommended that by using decentralised AI single by decreasing the time consumed on agricultural diagnostic reports performed on a patient can be commodity and food safety accidents. Decentralised obtained [11]. 12th Annual international conference AI plays a main role in finding malicious byzantine is going to be held in 2019 which would emphasis robots which prevents the possibility of data breach security, safety and sustainable issues from global and preserves the authenticity of transactions. In perspective. It would provide opportunity for system future, Decentralised AI can help in resolving scientists researchers, operators to update their disputes without attending the courtroom procedures knowledge and resolve challenges while networking with more consistent and justifying data-driven [12]. Dutch land registry departments use decisions. decentralised AI technique in real estate industry. It aimed to use AI for predicting the outcome and used blockchain for handling bulky data produced by the II. LITERATURE REVIEW department [13]. Satoshi first applied P2P e-cash When blockchain is combined with AI, this system which ensures knowledge management and integrated structure provide users with innovative trading decentraily[14]. Woods stressed on the data models which is controlled by both AI and importance of decentralised AI to resolve the threats blockchain and results in achieving an improved faced by internet. As in near future bot-bot authenticity on data. Chain-intel P2P network [4] are interaction would increase human-bot interaction. the set of active nodes which works on decentralised Thus, authentication will be much needed [15]. AI applications for works such as face, voice, picture Decentralised AI uses C4.5 classification method for recognition, smart homes ,smart cities. Ethereum and predicting pollution levels IPFS handles resource and data repository by giving Published By: Retrieval Number: A10301191S19/2019©BEIESP Blue Eyes Intelligence Engineering DOI: 10.35940/ijitee.A1030.1191S19 136 & Sciences Publication International Journal of Innovative Technology and Exploring Engineering (IJITEE) ISSN: 2278-3075, Volume-9 Issue-1S, November 2019 which is further used by artificial decision trees On the other hand, Blockchain being decentralised in named “KEEL” for predicting traffic Jam and nature provides immutable, trust-worthy pollution level in a city [16]. Osaba et al executed characteristic to AI when integrated with blockchain. experiments for predicting pollution level in Pisa Hence, this powerful combination is providing italy[17]. Nebula Genomics,a start-up cofounder by number of innovations and technologies in various HARVARD UNIVERSITY‟s George church,brought fields. a marketplace that
Recommended publications
  • Information Systems Foundations: Constructing and Criticising
    Information Systems Foundations: Constructing and Criticising Information Systems Foundations: Constructing and Criticising Dennis N. Hart and Shirley D. Gregor (Editors) Workshop Chair Shirley D. Gregor ANU Program Chairs Dennis N. Hart ANU Shirley D. Gregor ANU Program Committee Bob Colomb University of Queensland Brian Corbitt Deakin University Colin Freeman ANU Chris Freyberg Massey University Sigi Goode ANU Peter Green University of Queensland Juhani Iivari University of Oulu Robert Johnston University of Melbourne Eija Koskivaara Turku University John Lamp Deakin University Ed Lewis Australian Defence Force Academy Nigel Martin ANU Mike Metcalfe University of South Australia Craig McDonald University of Canberra Simon Milton University of Melbourne Steven Pace Central Queensland University Michael Rosemann Queensland University of Technology Elizabeth Tansley Central Queensland University Tim Turner Australian Defence Force Academy Leoni Warne Defence Science and Technology Organisation Published by ANU E Press The Australian National University Canberra ACT 0200, Australia Email: [email protected] Web: http://epress.anu.edu.au Cataloguing-in-Publication information is available from the National Library of Australia ISBN 1 9209 4221 1 ISBN 1 9209 4220 3 (online) All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying or otherwise, without the prior permission of the publisher. Cover design by Brendon McKinley with logo by Michael Gregor Authors’ photographs on back cover: ANU Photography Printed by Digital Print Australia, Adelaide Individual papers © 2005 with the author(s) This edition © 2005 ANU E Press Contents Information systems foundations ................................................................. ix I.
    [Show full text]
  • Biomimicry--A Review
    document title/ titre du document BIOMIMICRY – A REVIEW prepared by/préparé par Mark Ayre reference/réference issue/édition 2 revision/révision 03 date of issue/date 22 August 2004 d’édition status/état Document type/type de Work Package Report document Distribution/distribution Biomimicry – A Review Page 2 of 86 ABSTRACT A broad and brief introduction to biomimetics is presented. The review has two aims: to provide a general appreciation of the different areas of biomimicry, and to facilitate the construction of a ‘Biomimicry Technology Tree’. European Space Agency Agence Spatiale Européenne ESTEC Keplerlaan 1 - 2201 AZ Noordwijk - The Netherlands Tel. (31) 71 5656227 - Fax (31) 71 5656024 Biomimicry – A Review Page 3 of 86 Table of Contents ABSTRACT .............................................................................................................................. 2 1 INTRODUCTION............................................................................................................ 4 1.1 CENTRAL CONCEPTS IN BIOMIMETIC ENGINEERING.................................................... 4 1.2 AREAS OF BIOMIMETICS.............................................................................................. 7 2 STRUCTURES AND MATERIALS (6100) .................................................................. 8 2.1 STRUCTURES ............................................................................................................... 8 2.2 MATERIALS ..............................................................................................................
    [Show full text]
  • Robotchain: Artificial Intelligence on a Blockchain Using Tezos Technology
    UNIVERSIDADE DA BEIRA INTERIOR Engenharia RobotChain: Artificial Intelligence on a Blockchain using Tezos Technology Vasco Ferrinho Lopes Dissertação para obtenção do Grau de Mestre em Engenharia Informática (2º ciclo de estudos) Orientador: Prof. Doutor Luís Filipe Barbosa de Almeida Alexandre Covilhã, Junho de 2019 RobotChain: Artificial Intelligence on a Blockchain using Tezos Technology ii RobotChain: Artificial Intelligence on a Blockchain using Tezos Technology Acknowledgments Reaching the end of this dissertation, I would like to express my deepest gratitude for those that made this possible. First, and foremost, I would like to thank Professor Luís Alexandre for his constant support, guidance, sincerity, patience, understanding and so much more. Thank you for teaching me so much and for passing on to me important values, such as honesty and hard work. Your motiva- tion, expertise, availability, insights, and help made the conclusion of this dissertation possible. I am beholden for the opportunity of working with such an amazing person and professional that is always available to help his students and to guide them. My deepest thank you for trusting me and giving me the opportunity to work with you. To my parents, brother and grandparents, I express my utmost gratitude. Their support was unconditional, not only to make this chapter of my life possible but for every moment that they put up with me, for the knowledge they impart on me and for always being present when I need. To my beloved Diana, I am deeply grateful for all your love, support, help and above all, your understanding for the time I was absent and for the thousands of times I had to cancel our plans due to this work.
    [Show full text]
  • Immune-Inspired Self-Healing Swarm Robotic Systems Amelia
    Immune-Inspired Self-Healing Swarm Robotic Systems Amelia Ritahani Ismail Submitted for the degree of Doctor of Philosophy University of York Department of Computer Science September 2011 Abstract The field of artificial immune system (AIS) is an example of biologically inspired comput- ing that takes its inspiration from various aspects of immunology. Techniques from AIS have been applied in solving many different problems such as classification, optimisation and anomaly detection. However, despite the apparent success of the AIS approach, the unique advantages of AIS over and above other computational intelligence approaches are not clear. In order to address this, AIS practitioners need to carefully consider the application area and design methodologies that they adopt. It has been argued that of increasing importance is the development of a greater understanding of the underlying immunological system that acts as inspiration, as well as the understanding of the prob- lem that need to be solved before proposing the immune-inspired solution to solve the desired problem. This thesis therefore aims to pursue a more principled approach for the development of an AIS, considering the application areas that are suitable based on the underlying biological system under study, as well as the engineering problems that needs to be solved. This directs us to recognise a methodology for developing AIS that integrates several explicit modelling phases to extract the key features of the biological system. An analysis of the immunological literature acknowledges our immune inspira- tion: granuloma formation, which represents a chronic inflammatory reaction initiated by various infectious and non-infectious agents. Our first step in developing an AIS sup- ported by these properties is to construct an Unified Modelling Language (UML) model agent-based simulation to understand the underlying properties of granuloma formation.
    [Show full text]
  • Modelling and Verification of Multi-Agent Systems Via Sequential Emulation
    DOCTORAL THESIS Modelling and Verification of Multi-Agent Systems via Sequential Emulation PHDPROGRAM IN COMPUTER SCIENCE: XXXII CYCLE Author: Supervisors: Luca DI STEFANO Prof. Rocco DE NICOLA [email protected] [email protected] Dr. Omar INVERSO [email protected] October 2020 GSSI Gran Sasso Science Institute Viale Francesco Crispi, 7 - 67100 L’Aquila - Italy Declaration of Authorship I, Luca Di Stefano, declare that this thesis titled, ‘Modelling and Verification of Multi-Agent Systems via Sequential Emulation’ and the work presented in it are my own, under the guidance of my supervisors. Parts of Chapter2 appeared in [ 80]. Chapter3 is based on [ 83]. A preliminary description of the encoding proposed in Chapter4 appeared in [ 83]; the current version of the encoding is under submission. Parts of Chapter5 appeared in [87]. I confirm that: ■ This work was done wholly or mainly while in candidature for a research degree at this Institute. ■ Where I have consulted the published work of others, this is always clearly attributed. ■ Where I have quoted from the work of others, the source is always given. With the exception of such quotations, this thesis is entirely my own work. ■ I have acknowledged all main sources of help. Signed: Date: i Abstract A multi-agent system (MAS) is a collection of agents, often endowed with individual goals and a partial view of the whole system, that may be required to achieve complex goals by interacting with each other and with the environment. MASs are a convenient modelling paradigm for complex scenarios across many research fields: they may either be used to describe and reason about existing systems (such as colonies of insects, social networks, economic markets), or to design and assess the correctness of new ones (such as swarms of robots, smart transportation systems).
    [Show full text]
  • Rural Livelihoods and Poverty Reduction Policies
    Rural Livelihoods and Poverty Reduction Policies Based on case study research in four low income sub-Saharan African countries— Uganda, Kenya, Tanzania and Malawi—this book brings together the micro-level realities of gaining a living in rural areas with the macro-level policies that seek to secure rapid poverty reduction in line with the United Nations Millennium Development Goal of halving global poverty by the year 2015. The starting point is the livelihoods approach to poverty reduction that provides a powerful framework within which micro-level experiences of poverty and vulnerability can be connected to the policy contexts that either block or facilitate people’s own efforts to escape from poverty. Initial chapters provide evidence concerning the multiple and diverse character of rural livelihoods. The book then goes on to examine the institutional context of livelihoods, including decentralisation, taxation, markets, land tenure and agricultural research. The natural resource dimensions of agriculture, livestock, fisheries, small-scale irrigation and community-based natural resource management policies are then analysed. The concluding chapters consider micro-macro linkages, including linking micro-level poverty traps to Poverty Reduction Strategy Papers; incorporating rural poverty measurement in such strategies; and tracing macro-micro economic links. This book exposes the gap that occurs between the rhetoric of poverty reduction strategies in capital cities and the practice of public sector delivery in rural areas. It will be essential reading for advanced students and researchers in the fields of rural development, rural livelihoods, poverty reduction strategies and sub-Saharan African development as well as advisors and practitioners in international organisations.
    [Show full text]
  • Designing Collective Decision-Making Dynamics for Multi-Agent Systems with Inspiration from Honeybees
    Designing collective decision-making dynamics for multi-agent systems with inspiration from honeybees Rebecca A.L. Gray A Dissertation Presented to the Faculty of Princeton University in Candidacy for the Degree of Doctor of Philosophy Recommended for Acceptance by the Department of Mechanical and Aerospace Engineering Adviser: Naomi Ehrich Leonard September 2019 c Copyright by Rebecca A.L. Gray, 2019. All rights reserved. Abstract For many multi-agent systems, collective decision-making among alternatives is a crucial task. A group of agents may be required to collectively decide on their next action, and may face limitations on their sensing, communication and computational abilities. A swarm of honeybees choosing a new nest-site faces these challenges, and has been shown to reliably make decisions with accuracy, efficiency and adaptability. The honeybee decision-making dynamics can be modelled by a pitchfork bifurcation, a nonlinear phenomenon that is ubiquitous in animal decision-making. We describe and analyse a model for collective decision-making that possesses a pitchfork bifurcation. The model allows us to leverage the characteristics of the honeybee dynamics for application in multi-agent network systems and to extend the capabilities of our decision-making dynamics beyond those of the biological system. Using tools from nonlinear analysis, we show that our model retains some impor- tant characteristics of the honeybee decision-making dynamics, and we examine the impact of system and environmental parameters on the behaviour of the model. We derive an extension to an existing centrality measure to describe the relative influence of each agent, and to show how agent preferences can lead to bias in the network.
    [Show full text]
  • Investigating the Impact of Global Stablecoins
    G7 Working Group on Stablecoins Investigating the impact of global stablecoins October 2019 Contents Executive summary ................................................................................................................................................................... ii 1. Introduction.............................................................................................................................................................. 1 1.1 The stablecoin ecosystem ......................................................................................................................... 2 1.2 Improving payment systems and services .......................................................................................... 3 2. Challenges and risks for public policy, oversight and regulation ....................................................... 5 2.1 Legal, regulatory, oversight and public policy issues regardless of scale .............................. 5 2.1.1 Legal certainty ....................................................................................................................................... 5 2.1.2 Sound governance .............................................................................................................................. 6 2.1.3 Financial integrity (AML/CFT) .......................................................................................................... 7 2.1.4 Safety, efficiency and integrity of payment systems ............................................................
    [Show full text]
  • Variability in Individual Assessment Behaviour and Its Implications for Collective Decision-Making
    Submitted to Proceedings of the Royal Society B: For Review Only Variability in Individual Assessment Behaviour and its Implications for Collective Decision-Making Journal: Proceedings B Manuscript ID RSPB-2016-2237.R1 Article Type: Research Date Submitted by the Author: 13-Dec-2016 Complete List of Authors: O'Shea-Wheller, Thomas; University of Bristol, Biological Sciences Masuda, Naoki; University of Bristol, Franks, Nigel; University of Bristol, Biology; Sendova-Franks, Ana; University of the West of England, Britol, Mathematical Sciences Subject: Behaviour < BIOLOGY Self-organisation, Decision-making, Heterogeneity, Behavioural-thresholds, Keywords: Temnothorax albipennis Proceedings B category: Behaviour http://mc.manuscriptcentral.com/prsb Page 1 of 17 Submitted to Proceedings of the Royal Society B: For Review Only 1 Variability in Individual Assessment Behaviour and its 2 Implications for Collective Decision-Making 3 Thomas A. O’Shea-Wheller 1*, Naoki Masuda 2, Ana B. Sendova-Franks 3 and Nigel R. 4 Franks 1 5 1School of Biological Sciences, University of Bristol, Life Sciences Building, 24 Tyndall 6 Avenue, Bristol, BS8 1TH, England, UK. 7 2Department of Engineering Mathematics, University of Bristol, Merchant Venturers 8 Building, Woodland Road, Bristol, BS8 1UB, England, UK. 9 3Department of Engineering Design and Mathematics, UWE Bristol, Frenchay Campus, 10 Coldharbour Lane, Bristol, BS16 1QY, England, UK. 11 *Corresponding author E-mail: [email protected] . 12 13 14 15 16 17 18 1 http://mc.manuscriptcentral.com/prsb Submitted to Proceedings of the Royal Society B: For Review Only Page 2 of 17 19 Abstract 20 Self-organised systems of collective behaviour have been demonstrated in a number of group-living 21 organisms.
    [Show full text]
  • On Artificial Immune Systems and Swarm Intelligence
    Noname manuscript No. (will be inserted by the editor) On Artificial Immune Systems and Swarm Intelligence Jon Timmis · Paul Andrews · Emma Hart Received date / Accepted date Abstract This position paper explores the nature and role of two bio-inspired para- digms, namely Artificial Immune Systems (AIS) and Swarm Intelligence (SI). We argue that there are many aspects of AIS that have direct parallels with SI and examine the role of AIS and SI in science and also in engineering, with the primary focus being on the immune system. We explore how in some ways, algorithms from each area are similar, but we also advocate, and explain, that rather than being competitors, AIS and SI are complementary tools and can be used effectively together to solve complex engineering problems. Keywords artificial immune systems · swarm intelligence · swarm robotics · immunology 1 Introduction Swarms in nature are generally associated with groupings of insects or animals that collectively exhibit complex behaviours, for example, bees, ants or birds. Perhaps less obviously, it has been suggested (see for example Hoffmeyer 1997; Jacob et al 2006) that the immune system might also be considered a type of swarm system that shares similar properties with other swarm-like systems. This article examines the immune system from the perspective of a swarm system, and in particular the relationship of the fields of swarm intelligence (SI) and artificial immune systems (AIS), disciplines Jon Timmis Department of Computer Science and Department of Electronics University of York, Helsington, York. UK. E-mail: [email protected] Paul Andrews Department of Computer Science University of York, Helsington, York.
    [Show full text]
  • Variability in Individual Assessment Behaviour and Its Implications for Collective Decision-Making
    O'Shea-Wheller, T., Masuda, N., Sendova-Franks, A., & Franks, N. (2017). Variability in individual assessment behaviour and its implications for collective decision-making. Proceedings of the Royal Society B: Biological Sciences, 284(1848), [20162237]. https://doi.org/10.1098/rspb.2016.2237 Peer reviewed version Link to published version (if available): 10.1098/rspb.2016.2237 Link to publication record in Explore Bristol Research PDF-document This is the author accepted manuscript (AAM). The final published version (version of record) is available online via The Royal Society at http://rspb.royalsocietypublishing.org/content/284/1848/20162237. Please refer to any applicable terms of use of the publisher. University of Bristol - Explore Bristol Research General rights This document is made available in accordance with publisher policies. Please cite only the published version using the reference above. Full terms of use are available: http://www.bristol.ac.uk/red/research-policy/pure/user-guides/ebr-terms/ 1 Variability in Individual Assessment Behaviour and its 2 Implications for Collective Decision-Making 3 Thomas A. O’Shea-Wheller1*, Naoki Masuda2, Ana B. Sendova-Franks3 and Nigel R. 4 Franks1 5 1School of Biological Sciences, University of Bristol, Life Sciences Building, 24 Tyndall 6 Avenue, Bristol, BS8 1TH, England, UK. 7 2Department of Engineering Mathematics, University of Bristol, Merchant Venturers 8 Building, Woodland Road, Bristol, BS8 1UB, England, UK. 9 3Department of Engineering Design and Mathematics, UWE Bristol, Frenchay Campus, 10 Coldharbour Lane, Bristol, BS16 1QY, England, UK. 11 *Corresponding author E-mail: [email protected]. 12 13 14 15 16 17 18 1 19 Abstract 20 Self-organised systems of collective behaviour have been demonstrated in a number of group-living 21 organisms.
    [Show full text]
  • Decentralised Multi-Robot Systems
    Decentralised Multi-Robot Systems Towards Coordination in Real World Settings Thesis submitted in accordance with the requirements of the University of Liverpool for the degree of Doctor in Philosophy by Daniel Claes April 2018 Contents List of Figures vii List of Tables xiii Preface xv Abstract xvii Acknowledgements xix 1 Introduction1 1.1 Content of this Thesis.............................3 1.2 Structure and Contributions of this Thesis..................4 2 Background7 2.1 Navigation in a Shared Workspace......................7 2.1.1 The Velocity Obstacle Paradigm...................8 2.1.2 Incorporating Kinematic and Dynamic Constraints......... 12 2.1.3 Selection of a Collision-Free Velocity................. 13 2.2 Decision Making and Task Allocation.................... 15 2.2.1 Markov Decision Processes...................... 15 2.2.2 Solution Methods for Markov Decision Processes.......... 16 2.2.3 Extensions for Planning with Multiple Agents............ 21 2.2.4 Monte Carlo Tree Search....................... 22 2.2.5 Multi-Robot Task Allocation and Market-based Approaches.... 24 2.3 Robotic Platforms and Core Components.................. 27 2.3.1 Localisation............................... 28 2.3.2 Navigation using the Dynamic Window Approach and a Global Plan................................... 30 2.4 Summary.................................... 31 3 Collision Avoidance in Shared Workspaces 33 3.1 Related Work.................................. 34 3.1.1 Local control.............................. 35 3.1.2 Collision avoidance in shared workspaces.............. 36 3.2 Convex Outline Collision Avoidance under Localization Uncertainty... 36 3.3 Towards Human-Safe Pro-Active Collision Avoidance............ 41 3.3.1 Problems of Convex Outline Collision Avoidance under Localiza- tion Uncertainty............................ 41 iii 3.3.2 Static Obstacles with Velocity Obstacle-based Methods.....
    [Show full text]