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Tables of Contents for Autonomous Agents and Mult-Agent Systems
Chapter/Section Title
Page #
Page Count
Preface
vii
Acknowledgements
xi
Introduction
1
30
What is an Agent?
2
1
Basic Questions and Fundamental Issues
3
1
Learning
4
8
Learning in Natural and Artificial Systems
4
1
Skinner's Pigeons in a Pelican
4
1
Biologically Inspired Legged Robots
5
1
Agent Learning Techniques
6
1
Agent Belief Development and Updating
6
3
Performance-Based Learning
9
2
Reinforcement Learning
11
1
Neural Agents
12
3
Self-Organizing Maps (SOM)
12
1
SOM Applications
13
2
Evolutionary Agents
15
1
Learning in Cooperative Agents
16
1
Computational Architectures
17
6
Subsumption Architecture
18
1
Action Selection
18
1
Motif Architecture
19
1
Overview
19
1
Dimensions of Motif Interaction
20
1
Self-Similar Structures
20
1
Motifs
20
1
Computation in Two Interacting Motifs
21
1
An Agent Behavioral Organization Approach
21
2
Agent Behavioral Learning
23
8
What is the Behavior of a Learning Agent?
23
1
What is Behavioral Learning?
24
7
Behavioral Modeling, Planning, and Learning
31
42
Manipulation Behaviors
31
2
Modeling and Planning Manipulation Behaviors
33
6
State-Oriented Representation
33
1
State-Transition Function (φ)
34
1
Behavioral Planning Based on Action Schemata
35
1
Task Grammar
36
1
Task Grammar-Based Planning
37
2
Manipulation Behavioral Learning
39
5
Automatic Induction of State Transitions
39
3
Empirical Sample Generation
42
1
Action Selection Based on a Randomized Search
42
2
Summary
44
1
Other Modeling, Planning, and Learning Methods
45
12
Artificial Potential Fields (APF)
45
2
Harmonic Functions
47
1
Generalized APF Formulations Incorporating Both Global and Reactive Planning
47
1
Elastic Bands
47
1
Elastic Strips
48
1
Artificial Neural Networks (ANN)
49
1
Similarities and Differences between APF and ANN
49
1
Analytical vs. Numerical Representations
49
1
Optimization
50
1
Metaphors behind APF and ANN
51
1
Dynamic Systems
52
1
Comparison
53
1
APF Meets ANN
53
1
Operation-Space APF
54
1
Collective Self-Organization of APF
55
1
Joint-Space APF
56
1
Summary
56
1
Bibliographical and Historical Remarks
57
16
Assembly Operation Planning
57
1
AI Planning
58
1
Manipulation Behavioral Planning
58
15
Synthetic Autonomy
73
36
Synthetic Autonomy Based on Behavioral Self-Organization
74
1
Behavioral Self-Organization
75
13
Overview
75
2
The Athlete Agent
77
1
The Athlete Structure
77
1
The Virtual Environment
78
1
External and Internal States
78
10
Summary
88
1
Bibliographical and Historical Remarks
89
20
Animation of Articulated Figures
89
1
Lifelike Behavior
90
1
Emergent Behavior
91
18
Dynamics of Distributed Computation
109
32
Definitions
110
2
Overview of the Approach
112
6
Local Stimuli to Agents
113
2
Reactive Behavior of Distributed Agents
115
1
Breed--and--Behave (B--B)
115
2
Resource Marking
117
1
Dynamics of Agent-Based Distributed Search
118
15
Dynamic Systems Models
118
4
Agents with Different Dynamic Behaviors
122
1
The Parent Agents
123
1
The First-Generation Agents
124
2
The Second-Generation Agents
126
2
The Third-Generation Agents
128
1
The Goal-Attainability of Agents
129
2
Handling Complex Homogeneous Regions
131
1
Summary of Agent-Based Distributed Computation
132
1
Parameterization of Dynamic Behaviors
132
1
The Breed--and--Behave (B--B) Algorithm
132
1
Remarks
133
2
Dynamic Systems Modeling
133
1
Agent Semi-Autonomy
134
1
Characteristics of the Agent-Based Approach
134
1
The Goal-Attainability of Agents
135
1
Summary
135
2
Open Problems
136
1
Extensions
137
1
Bibliographical and Historical Remarks
137
4
Self-Organized Autonomy in Multi-Agent Systems
141
40
Collective Vision and Motion
142
1
Self-Organized Vision for Image Feature Detection and Tracking
142
6
Overview of Self-Organized Vision
144
1
A Two-Dimensional Lattice Environment
144
1
Local Stimuli in a Two-Dimensional Lattice
144
1
Self-Organizing Behaviors
145
1
Reproduction
145
1
Diffusion
146
1
Feature Tracking
146
1
Extinction
146
1
The Reproduce--and--Diffuse (R--D) Algorithm
147
1
Examples
147
1
Self-Organized Motion in Group Robots
148
14
The Task of Group Navigation and Homing
148
1
Performance Criteria
149
1
Overview of the Multi-Agent System
150
1
The Attributes of Agents
150
1
Behavioral Self-Organization
151
1
Local Memory-Based Behavioral Selection and Global Performance-Based Behavioral Learning
152
1
Dynamics of Different Agent Groups
153
1
Special Cases in Multi-Agent Dynamics
154
2
Examples
156
1
Experimental Design
156
2
Quantitative Analysis
158
2
Remarks
160
2
Summary
162
1
Bibliographical and Historical Remarks
163
18
Cellular Automata
163
1
Learning in Group Robots
164
17
Autonomy-Oriented Computation
181
42
Terminology
182
1
The Adaptive Self-Organizing Behavior-Based Agents
183
5
Overview
184
1
The Adaptive Self-Organizing Behaviors of Agents
185
1
Reproduce: Positive Feedback and Autocatalysis
185
1
Diffuse: Biased Search
185
1
Adaptive Self-Organization
186
1
Agent Convergence
187
1
The General Characteristics of Agents
188
1
The Adaptive Reproduce--and--Diffuse (aR--D) Algorithm
189
1
Examples
189
17
Computational Costs
206
1
Comparisons with Conventional Segmentation Approaches
207
3
Effects of Behavioral Characteristics on Agent-Based Search
210
1
Parameters Affecting Agent Computation
211
1
Dynamics of Autonomous Agents
212
2
Understanding Agent Dynamics
212
1
A Continuous Model of Agent Dynamics
213
1
Deriving a Model of Agent Dynamics
214
1
Balance between Learning and Evolution
214
1
Summary
215
1
Bibliographical and Historical Remarks
216
7
Feature Extraction
216
1
Segmentation
217
6
Dynamics and Complexity of Autonomy-Oriented Computation
223
34
Decentralized Agent Behaviors
224
1
Goal-Attainability
224
6
Goal-Attainability in E where dimE = 1
225
2
Goal-Attainability in E where dimE = 2
227
1
Effects of Behavioral Parameters on Goal-Attainability
228
2
Population Dynamics
230
9
Population Dynamics in E where dimE = 1
231
2
Population Dynamics in E where dimE = 2
233
6
Examples
239
3
Goal-Attaining Optimality
241
1
Complexity of Autonomy-Oriented Computation
242
9
Background
243
1
The Complexity of an Environment
244
1
Examples
245
1
Terminology
246
5
Summary
251
1
Bibliographical and Historical Remarks
251
6
Bibliography
257
20
Index
277