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Thomas Schnürer, Malte Probst , Horst-Michael Groß , "Utilizing Emergent, Task-Independent Knowledge Representations for Accelerated Task-Learning in Reinforcement Learning", Fifth International Workshop on Intrinsically-Motivated Open-ended Learning, Max Planck Institute for Intelligent Systems,, no. 5, 2022.
AbstractAn intelligent agent in a complex environment will face a great number of diverse tasks. Rather than learning task-specific representations, we aim to reuse learned aspects to drive the acquisition of new tasks by leveraging previously learned abstract knowledge. Building on recent work that has introduced an inductive bias for explicit knowledge separation, we explore the benefits of such separation for learning new tasks. With an environment...
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Simon Kohaut , "Hybrid Probabilistic Logic Programming for Mission Design in Multimodal Mobility", Technical University of Darmstadt, 2022.
AbstractReasoning on subjective observations of the environment to navigate through complex and dynamic scenarios is a fundamental concept to human behavior. Hence, over the course of history, a vast landscape of approaches to formalize and automize inference has emerged. From propositional to higher-order logic and from simple stochastic measures to robust statistics, the power of both symbolic and numeric methods for reasoning in discrete and continuou...
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Thomas Jatschka, Tobias Rodemann, Guenther Raidl , "A Large Neighborhood Search for a Cooperative Optimization Approach for Distributing Service Points in Mobility Applications", META2021 Conference, pp. 3-17, 2022.
AbstractWe present a large neighborhood search (LNS) as optimization core for a cooperative optimization approach (COA) to optimize locations of service points for mobility applications. COA is an iterative interactive algorithm in which potential customers can express preferences during the optimization. A machine learning component processes the feedback obtained from the customers. The learned information is then used in an optimization component to g...
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Sebastian Brulin, Mariusz Bujny, Tim Puphal, Stefan Menzel , "Evolutionary Algorithms for eVTOL Design Optimization based on Multi-agent Simulations", MATSim User Meeting 2022, 2022.
AbstractIn urban and regional air mobility, technological advances open up the utilization of new mobility concepts in the foreseeable future. The introduction of a new mobility system brings many challenges, from vehicle specifications to air traffic control architectures, from traffic safety to affordability and availability, and many more. This paper tackles the first problem by identifying an optimal electric vertical takeoff and landing (eVTOL) airc...
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Jens Engel, Thomas Schmitt, Tobias Rodemann, Jürgen Adamy , "Hierarchical Economic Model Predictive Control Approach for a Building Energy Management System With Scenario-Driven EV Charging", IEEE Transactions on Smart Grid, vol. 13, no. 4, pp. 3082 - 3093, 2022.
AbstractTo deal with the increasing number of EVs and their effect on the infrastructure, intelligent and coordinated charge management is necessary. In this paper, this problem is considered in the context of a commercial building energy management system (BEMS) with V2G-capable employee EV charging stations (EVCS). We propose a hierarchical economic model predictive control (EMPC) scheme for the operation of the BEMS and the integration of EV charge ma...
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Charlie Street, Bruno Lacerda, Manuel Mühlig, Nick Hawes , "Proactive Multi-Robot Task Allocation Under Spatiotemporal Uncertainty", Autonomous Robots and Multirobot Systems (ARMS) 2022, 2022.
AbstractMulti-robot task allocation methods should be robust to task announcements during execution, where task announcement times and locations are uncertain. In this paper, we model task announcement us- ing continuous-time Markov chains which can be learned from empirical data. We then evaluate announcement time and location distributions through model checking techniques. To service uncertain tasks efficiently, allocation should occur proactive...
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Nils Einecke and Thomas H Weisswange , "Detecting Availability to Facilitate Social Communication", ICRA Workshop: Exploring the Roles of Robots for Embodied Mediation, 2022.
AbstractModern communication has shifted strongly towards the digital domain. Technologies like chat applications and messengers provide means to connect with anyone at anytime; However, being always reachable can create stress and provide potential for social pressure as people often expect timely responses. In contrast, more classical communication types, like the telephone, provide dedicated time slots for an ongoing communication, but suffer from the...
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Moritz Bühler , "Theory of mind and information relevance in human centric human robot cooperation", Technical University Darmstadt, Technical University Darmstadt, 2022.
AbstractIn the interaction with others, besides consideration of environment and task requirements, it is crucial to account for and develop an understand- ing for the interaction partner and her state of mind. An understanding of other’s state of knowledge and plans is important to support efficient interaction activities including information sharing, or distribution of sub- tasks. A robot cooperating with and supporting a human partner might dec...
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Qiqi Liu, Yaochu Jin, Martin Heiderich, Tobias Rodemann , "Surrogate-Assisted Evolutionary Optimization of Expensive Many-objective Irregular Problems", Knowledge-Based Systems, vol. 240, pp. 108197, 2022.
AbstractSurrogate-assisted evolutionary algorithms are one effective approach to handling expensive problems and have attracted increasing attention over the past decades. However, existing surrogate-assisted evolutionary algorithms pay little attention to expensive many-objective problems with irregular Pareto fronts, also called irregular problems. In this study, we propose a surrogate-assisted evolutionary algorithm for dealing with expensive irregu...
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Simon Manschitz and Dirk Ruiken , "Shared Autonomy for Intuitive Teleoperation", ICRA Workshop: Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022.
AbstractShared autonomy can be a means for combining the strengths and alleviating the weaknesses of two heterogeneous agents. In a teleoperation system with shared autonomy, a robotic system can take over the control from the human operator in certain situations, for instance when the operator has issues controlling the robot due to diminished depth perception. However, it is often difficult to decide when and how to take over control. In this paper, we...
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