We consider the sonar-based flocking of the team of mobile robots with radio communication with n... more We consider the sonar-based flocking of the team of mobile robots with radio communication with no access to global positioning system. For such a sensing, we suggest a simple protocol for distance-based identification of the team members and consider the erroneous scenario, in which an obstacle is identified as a team member. Under the assumption of the Brownian motion of the robots, we provide the probability of such erroneous identification. The suggested model was verified by numerical simulations and the trials with the mobile robots equipped with ultrasonic sensors and BlueTooth communication.
We develop dynamic equations that describe the dissemination of knowledge in sub-communities, whi... more We develop dynamic equations that describe the dissemination of knowledge in sub-communities, which represent various groups in a community. Knowledge is represented by a set of concepts. With respect to each concept, the community is divided into two parties: the cognoscenti, who have already produced references to the concept, and the dilettanti, who have not yet produced a reference to the concept. The obtained equations take into account the birth-death processes, and determine the dynamic distribution of ages in the sub-communities. In the case of natural community, such equations with the values in the scales of human life, specify real distribution of the ages; however, in the case of social networks and corresponding communities and groups, the birth-death processes stand for the processes of joining the communities, active communication, and leaving the communities or interrupting communication in them. We study the mutual impact of the dynamics of the concepts and groups of concepts on one hand, and the dynamics of the sub-communities on the other hand. We show that the long-term dynamics of the concepts and sub-communities depend on communication resources of the community, capabilities of concepts' comprehension, and distribution of ages. Higher values of these three parameters allow more flexibility in choosing a policy of allocating the communication resource over the set of concepts. Given the three parameters, the community may develop a policy formulated in terms of the informational measure of the set of concepts, as illustrated in the presentation.
2016 IEEE International Conference on the Science of Electrical Engineering (ICSEE), 2016
We consider the sonar-based flocking of the team of mobile robots with radio communication with n... more We consider the sonar-based flocking of the team of mobile robots with radio communication with no access to global positioning system. For such a sensing, we suggest a simple protocol for distance-based identification of the team members and consider the erroneous scenario, in which an obstacle is identified as a team member. Under the assumption of the Brownian motion of the robots, we provide the probability of such erroneous identification. The suggested model was verified by numerical simulations and the trials with the mobile robots equipped with ultrasonic sensors and BlueTooth communication.
In the report, a simple complex-valued logic is derived from the algebraic structure with uninorm... more In the report, a simple complex-valued logic is derived from the algebraic structure with uninorm and absorbing norm aggregators. Such construction forms a unified framework for probabilistic and complex fuzzy logics and provides a basis for modeling decision-making in complex systems. In particular, the applicability of the obtained logic is illustrated by construction of the modules of neural networks with recursive learning.
ACM Transactions on Mathematical Software, Mar 23, 2017
The article presents a library of MATLAB functions that implement the widely used algorithms of o... more The article presents a library of MATLAB functions that implement the widely used algorithms of outlier detection. The library includes the outlier tests for univariate and multivariate data sets with an approximately normal distribution. The software library is accompanied by a brief review of the methods for detecting and treating outliers.
We suggest the model of recurrent neural network based on the uninorm aggregators and apply it fo... more We suggest the model of recurrent neural network based on the uninorm aggregators and apply it for control of mobile robots. The learning process in the network is governed by the changes of the values neutral elements. The mobile robots in the group are considered as mobile neurons such that their mobility is defined with respect to their internal states. For the suggested model we construct non-monotonic generator function that, however, preserves its monotonicity in the algebraic structure defined by the uninorm and absorbing norm aggregators. The model was verified by numerical simulations and by the trials with the mobile robots.
ACM Transactions on Mathematical Software, Jan 29, 2016
This remark presents a correction to Algorithm 673 (dynamic Huffman coding) [Vitter 1989] and its... more This remark presents a correction to Algorithm 673 (dynamic Huffman coding) [Vitter 1989] and its translation to MATLAB.
We consider the sonar-based flocking of the team of mobile robots with radio communication with n... more We consider the sonar-based flocking of the team of mobile robots with radio communication with no access to global positioning system. For such a sensing, we suggest a simple protocol for distance-based identification of the team members and consider the erroneous scenario, in which an obstacle is identified as a team member. Under the assumption of the Brownian motion of the robots, we provide the probability of such erroneous identification. The suggested model was verified by numerical simulations and the trials with the mobile robots equipped with ultrasonic sensors and BlueTooth communication.
We develop dynamic equations that describe the dissemination of knowledge in sub-communities, whi... more We develop dynamic equations that describe the dissemination of knowledge in sub-communities, which represent various groups in a community. Knowledge is represented by a set of concepts. With respect to each concept, the community is divided into two parties: the cognoscenti, who have already produced references to the concept, and the dilettanti, who have not yet produced a reference to the concept. The obtained equations take into account the birth-death processes, and determine the dynamic distribution of ages in the sub-communities. In the case of natural community, such equations with the values in the scales of human life, specify real distribution of the ages; however, in the case of social networks and corresponding communities and groups, the birth-death processes stand for the processes of joining the communities, active communication, and leaving the communities or interrupting communication in them. We study the mutual impact of the dynamics of the concepts and groups of concepts on one hand, and the dynamics of the sub-communities on the other hand. We show that the long-term dynamics of the concepts and sub-communities depend on communication resources of the community, capabilities of concepts' comprehension, and distribution of ages. Higher values of these three parameters allow more flexibility in choosing a policy of allocating the communication resource over the set of concepts. Given the three parameters, the community may develop a policy formulated in terms of the informational measure of the set of concepts, as illustrated in the presentation.
2016 IEEE International Conference on the Science of Electrical Engineering (ICSEE), 2016
We consider the sonar-based flocking of the team of mobile robots with radio communication with n... more We consider the sonar-based flocking of the team of mobile robots with radio communication with no access to global positioning system. For such a sensing, we suggest a simple protocol for distance-based identification of the team members and consider the erroneous scenario, in which an obstacle is identified as a team member. Under the assumption of the Brownian motion of the robots, we provide the probability of such erroneous identification. The suggested model was verified by numerical simulations and the trials with the mobile robots equipped with ultrasonic sensors and BlueTooth communication.
In the report, a simple complex-valued logic is derived from the algebraic structure with uninorm... more In the report, a simple complex-valued logic is derived from the algebraic structure with uninorm and absorbing norm aggregators. Such construction forms a unified framework for probabilistic and complex fuzzy logics and provides a basis for modeling decision-making in complex systems. In particular, the applicability of the obtained logic is illustrated by construction of the modules of neural networks with recursive learning.
ACM Transactions on Mathematical Software, Mar 23, 2017
The article presents a library of MATLAB functions that implement the widely used algorithms of o... more The article presents a library of MATLAB functions that implement the widely used algorithms of outlier detection. The library includes the outlier tests for univariate and multivariate data sets with an approximately normal distribution. The software library is accompanied by a brief review of the methods for detecting and treating outliers.
We suggest the model of recurrent neural network based on the uninorm aggregators and apply it fo... more We suggest the model of recurrent neural network based on the uninorm aggregators and apply it for control of mobile robots. The learning process in the network is governed by the changes of the values neutral elements. The mobile robots in the group are considered as mobile neurons such that their mobility is defined with respect to their internal states. For the suggested model we construct non-monotonic generator function that, however, preserves its monotonicity in the algebraic structure defined by the uninorm and absorbing norm aggregators. The model was verified by numerical simulations and by the trials with the mobile robots.
ACM Transactions on Mathematical Software, Jan 29, 2016
This remark presents a correction to Algorithm 673 (dynamic Huffman coding) [Vitter 1989] and its... more This remark presents a correction to Algorithm 673 (dynamic Huffman coding) [Vitter 1989] and its translation to MATLAB.
Autonomous mobile robots and multi-robot systems: Motion-planning, communication and swarming, 2020
This chapter provides an introduction into collective behavior in multi‐robot systems. In particu... more This chapter provides an introduction into collective behavior in multi‐robot systems. In particular, it considers different types of communication and control in multi‐agent systems, basic flocking rules, and general methods of aggregation and collision avoidance. The control level considers the roles of the agents in the decision‐making process. While considering the multi‐agent systems consisting of the mobile robots, the main problem is the problem of navigation of the robots such that it provides a desired motion the swarm. The desired motion of swarm can be obtained as a result of the planned motions of the robots, or, by contrast, the motion of each swarm mate is obtained autonomously with respect to the planned motion of the swarm. The chapter also considers the main principles of swarming and the methods of their implementation based on the attraction and repulsion potential functions.
The processes of human learning, understanding, and cognition are at most based on assembling the... more The processes of human learning, understanding, and cognition are at most based on assembling the perceived data with respect to some criterion, classification of the obtained groups and recognition of the relations between the concepts in the groups and between the groups. Statistical tool for such operations is called cluster analysis that is a technique of splitting a given set of variables (measurements or calculation results) into homogeneous clusters. Each cluster includes the entities, which are similar to the other entities in this cluster and differ from the variables included in the other clusters. In addition to a clarification of the relations between the variables, such analysis allows to disclose hidden structures in the obtained data and to decrease data complexity and efforts required for further data analysis.
Uploads
Papers by Eugene Kagan