Multi-agent task allocation for harvest management.

Multi-agent task allocation methods seek to distribute a set of tasks fairly amongst a set of agents. In real-world settings, such as soft fruit farms, human labourers undertake harvesting tasks. The harvesting workforce is typically organised by farm manager(s) who assign workers to the fields that are ready to be harvested and team leaders who manage the workers in the fields. Creating these assignments is a dynamic and complex problem, as the skill of the workforce and the yield (quantity of ripe fruit picked) are variable and not entirely predictable. The work presented here posits that multi-agent task allocation methods can assist farm managers and team leaders to manage the harvesting workforce effectively and efficiently. There are three key challenges faced when adapting multi-agent approaches to this problem: (i) staff time (and thus cost) should be minimised; (ii) tasks must be distributed fairly to keep staff motivated; and (iii) the approach must be able to handle incremental (incomplete) data as the season progresses. An adapted variation of Round Robin (RR) is proposed for the problem of assigning workers to fields, and market-based task allocation mechanisms are applied to the challenge of assigning tasks to workers within the fields. To evaluate the approach introduced here, experiments are performed based on data that was supplied by a large commercial soft fruit farm for the past two harvesting seasons. The results demonstrate that our approach produces appropriate worker-to-field allocations. Moreover, simulated experiments demonstrate that there is a "sweet spot" with respect to the ratio between two types of in-field workers.

Robot Assistance in Dynamic Smart Environments-A Hierarchical Continual Planning in the Now Framework.

By coupling a robot to a smart environment, the robot can sense state beyond the perception range of its onboard sensors and gain greater actuation capabilities. Nevertheless, incorporating the states and actions of Internet of Things (IoT) devices into the robot's onboard planner increases the computational load, and thus can delay the execution of a task. Moreover, tasks may be frequently replanned due to the unanticipated actions of humans. Our framework aims to mitigate these inadequacies. In this paper, we propose a continual planning framework, which incorporates the sensing and actuation capabilities of IoT devices into a robot's state estimation, task planing and task execution. The robot's onboard task planner queries a cloud-based framework for actuators, capable of the actions the robot cannot execute. Once generated, the plan is sent to the cloud back-end, which will inform the robot if any IoT device reports a state change affecting its plan. Moreover, a Hierarchical Continual Planning in the Now approach was developed in which tasks are split-up into subtasks. To delay the planning of actions that will not be promptly executed, and thus to reduce the frequency of replanning, the first subtask is planned and executed before the subsequent subtask is. Only information relevant to the current (sub)task is provided to the task planner. We apply our framework to a smart home and office scenario in which the robot is tasked with carrying out a human's requests. A prototype implementation in a smart home, and simulator-based evaluation results, are presented to demonstrate the effectiveness of our framework.

Does a social prescribing 'holistic' link-worker for older people with complex, multimorbidity improve well-being and frailty and reduce health and social care use and costs? A 12-month before-and-after evaluation.

AIM: To evaluate the impact of 'holistic' link-workers on service users' well-being, activation and frailty, and their use of health and social care services and the associated costs. BACKGROUND: UK policy is encouraging social prescribing (SP) as a means to improve well-being, self-care and reduce demand on the NHS and social services. However, the evidence to support this policy is generally weak and poorly conceptualised, particularly in relation to frail, older people and patient activation. Torbay and South Devon NHS Foundation Trust, an integrated care organisation, commissioned a Well-being Co-ordinator service to support older adults (≥50 years) with complex health needs (≥2 long-term conditions), as part of its service redesign. METHODS: A before-and-after study measuring health and social well-being, activation and frailty at 12 weeks and primary, community and secondary care service use and cost at 12 months prior and after intervention. FINDINGS: Most of the 86 participants achieved their goals (85%). On average health and well-being, patient activation and frailty showed a statistically significant improvement in mean score. Mean activity increased for all services (some changes were statistically significant). Forty-four per cent of participants saw a decrease in service use or no change. Thirteen high-cost users (>£5000 change in costs) accounted for 59% of the overall cost increase. This was largely due to significant, rapid escalation in morbidity and frailty. Co-ordinators played a valuable key-worker role, improving the continuity of care, reducing isolation and supporting carers. No entry-level participant characteristic was associated with change in well-being or service use. Larger, better conceptualised, controlled studies are needed to strengthen claims of causality and develop national policy in this area.

Action Graphs for Performing Goal Recognition Design on Human-Inhabited Environments.

Goal recognition is an important component of many context-aware and smart environment services; however, a person's goal often cannot be determined until their plan nears completion. Therefore, by modifying the state of the environment, our work aims to reduce the number of observations required to recognise a human's goal. These modifications result in either: Actions in the available plans being replaced with more distinctive actions; or removing the possibility of performing some actions, so humans are forced to take an alternative (more distinctive) plan. In our solution, a symbolic representation of actions and the world state is transformed into an Action Graph, which is then traversed to discover the non-distinctive plan prefixes. These prefixes are processed to determine which actions should be replaced or removed. For action replacement, we developed an exhaustive approach and an approach that shrinks the plans then reduces the non-distinctive plan prefixes, namely Shrink-Reduce. Exhaustive is guaranteed to find the minimal distinctiveness but is more computationally expensive than Shrink-Reduce. These approaches are compared using a test domain with varying amounts of goals, variables and values, and a realistic kitchen domain. Our action removal method is shown to increase the distinctiveness of various grid-based navigation problems, with a width/height ranging from 4 to 16 and between 2 and 14 randomly selected goals, by an average of 3.27 actions in an average time of 4.69 s, whereas a state-of-the-art approach often breaches a 10 min time limit.

Isolation and characterization of microsatellite loci from Lochmaea suturalis, the heather beetle (Coleoptera: Chrysomelidae), a pest in Europe and a biocontrol agent in New Zealand.

The heather beetle Lochmaea suturalis which is native to northwest Europe has been released as a biocontrol agent for heather in New Zealand. We have isolated and optimized eight microsatellite loci from New Zealand beetles. These loci provide markers with high polymorphism ranging from four to 20 alleles per locus. Observed heterozygosity averaged 0.631 per locus. These results suggest the markers are useful for population studies that will contribute to assessment of L. suturalis as a biocontrol agent.

Determining the origin and age of the Westland beech (Nothofagus) gap, New Zealand, using fungus beetle genetics.

The formation and maintenance of the Nothofagus beech gap in the South Island, New Zealand, has been the focus of biogeographical debate since the 1920s. We examine the historical process of gap formation by investigating the population genetics of fungus beetles: Brachynopus scutellaris (Staphylinidae) inhabits logs and is absent from the beech gap, and Hisparonia hystrix (Nitidulidae) is contiguous through the gap and is found commonly on sooty mould growing on several plant species. Both species show distinctive northern and southern haplotype distributions while H. hystrix recolonized the gap as shown by definitive mixing. B. scutellaris shows two major haplotype clades with strong geographical concordance, and unlike H. hystrix, has clearly defined lineages that can be partitioned for molecular dating. Based on coalescence dating methods, disjunct lineages of B. scutellaris indicate that the gap was formed less than 200 000 years ago. Phylogenetic imprints from both species reveal similar patterns of population divergence corresponding to recent glacial cycles, favouring a glacial explanation for the origin of the gap. Post-gap colonization by H. hystrix may have been facilitated by the spread of Leptospermum scoparium host trees to the area, and they may be better at dispersing than B. scutellaris which may be constrained by fungal host and/or microhabitat. The gap-excluded species B. scutellaris is found in both beech and podocarp-broadleaf forests flanking the Westland gap and its absence in the gap may be related to incomplete recolonization following glacial retreat. We also discuss species status and an ancient polymorphism within B. scutellaris.