Search

Collaborative multi-agent robotic systems where agents coordinate by modifying a shared environment often result in undesired dynamical couplings that complicate the analysis and experiments when solving a specific problem or task. Simultaneously, biologically-inspired robotics rely on simplifying agents and increasing their number to obtain more efficient solutions to such problems, drawing similarities with natural processes. In this work we focus on the problem of a biologically-inspired multi-agent system solving collaborative foraging. We show how mean field techniques can be used to re-formulate such a stochastic multi-agent problem into a deterministic autonomous system. This de-couples agent dynamics, enabling the computation of limit behaviours and the analysis of optimality guarantees. Furthermore, we analyse how having finite number of agents affects the performance when compared to the mean field limit and we discuss the implications of such limit approximations in this multi-agent system, which have impact on more general collaborative stochastic problems., Comment: Accepted for Publication in IEEE Transactions on Robotics, available for Early Access on 7 March 2022

Social vulnerability is defined as the capacity of individuals and social groups to respond to any external stress placed on their livelihoods and wellbeing. Mobility and migrations are relevant when assessing vulnerability since the movements of a population reflect on their livelihoods, coping strategies and social safety nets. Although in general migration characterization is complex and open to controversy, changes in mobility patterns for vulnerable population groups are likely to indicate a change in livelihoods or coping strategies. These changes can also indicate that the population groups may be exposed to new shocks; hence, monitoring of changes in mobility patterns can be a powerful early warning mechanism., Comment: Submitted and accepted at D4D'15 Senegal NetMob. Final version now published in PLOS ONE https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0195714

Natural disasters affect hundreds of millions of people worldwide every year. Early warning, humanitarian response and recovery mechanisms can be improved by using big data sources. Measuring the different dimensions of the impact of natural disasters is critical for designing policies and building up resilience. Detailed quantification of the movement and behaviours of affected populations requires the use of high granularity data that entails privacy risks. Leveraging all this data is costly and has to be done ensuring privacy and security of large amounts of data. Proxies based on social media and data aggregates would streamline this process by providing evidences and narrowing requirements. We propose a framework that integrates environmental data, social media, remote sensing, digital topography and mobile phone data to understand different types of floods and how data can provide insights useful for managing humanitarian action and recovery plans. Thus, data is dynamically requested upon data-based indicators forming a multi-granularity and multi-access data pipeline. We present a composed study of three cases to show potential variability in the natures of floodings,as well as the impact and applicability of data sources. Critical heterogeneity of the available data in the different cases has to be addressed in order to design systematic approaches based on data. The proposed framework establishes the foundation to relate the physical and socio-economical impacts of floods., Comment: Submitted to the UN Data For Climate Action Challenge being Finalist with Honorable Mention http://www.dataforclimateaction.org/

This paper presents an algorithm for generating scale-free networks with adjustable clustering coefficient. The algorithm is based on a random walk procedure combined with a triangle generation scheme which takes into account genetic factors; this way, preferential attachment and clustering control are implemented using only local information. Simulations are presented which support the validity of the scheme, characterizing its tuning capabilities.