Intelligent Knowledge Distribution: Constrained-Action POMDPs for Resource-Aware Multiagent Communication.

This article addresses a fundamental question of multiagent knowledge distribution: what information should be sent to whom and when with the limited resources available to each agent? Communication requirements for multiagent systems can be rather high when an accurate picture of the environment and the state of other agents must be maintained. To reduce the impact of multiagent coordination on networked systems, for example, power and bandwidth, this article introduces two concepts for the partially observable Markov decision processes (POMDPs): 1) action-based constraints that yield constrained-action POMDPs (CA-POMDPs) and 2) soft probabilistic constraint satisfaction for the resulting infinite-horizon controllers. To enable constraint analysis over an infinite horizon, an unconstrained policy is first represented as a finite-state controller (FSC) and optimized with policy iteration. The FSC representation then allows for a combination of the Markov chain Monte Carlo and discrete optimization to improve the probabilistic constraint satisfaction of the controller while minimizing the impact on the value function. Within the CA-POMDP framework, we then propose intelligent knowledge distribution (IKD) which yields per-agent policies for distributing knowledge between agents subject to interaction constraints. Finally, the CA-POMDP and IKD concepts are validated using an asset tracking problem where multiple unmanned aerial vehicles (UAVs) with heterogeneous sensors collaborate to localize a ground asset to assist in avoiding unseen obstacles in a disaster area. The IKD model was able to maintain asset tracking through multiagent communications while only violating soft power and bandwidth constraints 3% of the time, while greedy and naive approaches violated constraints more than 60% of the time.

Rigidity-Preserving Team Partitions in Multiagent Networks.

Motivated by the strong influence network rigidity has on collaborative systems, in this paper, we consider the problem of partitioning a multiagent network into two sub-teams, a bipartition, such that the resulting sub-teams are topologically rigid. In this direction, we determine the existence conditions for rigidity-preserving bipartitions, and provide an iterative algorithm that identifies such partitions in polynomial time. In particular, the relationship between rigid graph partitions and the previously identified Z-link edge structure is given, yielding a feasible direction for graph search. Adapting a supergraph search mechanism, we then detail a methodology for discerning graphs cuts that represent valid rigid bipartitions. Next, we extend our methods to a decentralized context by exploiting leader election and an improved graph search to evaluate feasible cuts using only local agent-to-agent communication. Finally, full algorithm details and pseudocode are provided, together with simulation results that verify correctness and demonstrate complexity.

Aerostat-based sampling of emissions from open burning and open detonation of military ordnance.

Emissions from open detonation (OD), open burning (OB), and static firing (SF) of obsolete military munitions were collected using an aerostat-lofted sampling instrument maneuvered into the plumes with remotely controlled tether winches. PM2.5, PM10, metals, volatile organic compounds (VOCs), energetics, and polyaromatic hydrocarbons (PAHs) were characterized from 121 trials of three different munitions (Composition B (hereafter, "Comp B"), V453, V548), 152 trials of five different propellants (M31A1E1, M26, SPCF, Arc 451, 452A), and 12 trials with static firing of ammonium perchlorate-containing Sparrow rocket motors. Sampling was conducted with operational charge sizes and under open area conditions to determine emission levels representative of actual disposal practices. The successful application of the tethered aerostat and sampling instruments demonstrated the ability to sample for and determine the first ever emission factors for static firing of rocket motors and buried and metal-cased OD, as well as the first measurements of PM2.5 for OB and for surface OD.

The contribution of childhood parental rejection and early androgen exposure to impairments in socio-cognitive skills in intimate partner violence perpetrators with high alcohol consumption.

Alcohol consumption, a larger history of childhood parental rejection, and high prenatal androgen exposure have been linked with facilitation and high risk of recidivism in intimate partner violence (IPV) perpetrators. Participants were distributed into two groups according to their alcohol consumption scores as high (HA) and low (LA). HA presented a higher history of childhood parental rejection, prenatal masculinization (smaller 2D:4D ratio), and violence-related scores than LA IPV perpetrators. Nonetheless, the former showed poor socio-cognitive skills performance (cognitive flexibility, emotional recognition and cognitive empathy). Particularly in HA IPV perpetrators, the history of childhood parental rejection was associated with high hostile sexism and low cognitive empathy. Moreover, a masculinized 2D:4D ratio was associated with high anger expression and low cognitive empathy. Parental rejection during childhood and early androgen exposure are relevant factors for the development of violence and the lack of adequate empathy in adulthood. Furthermore, alcohol abuse plays a key role in the development of socio-cognitive impairments and in the proneness to violence and its recidivism. These findings contribute to new coadjutant violence intervention programs, focused on the rehabilitation of basic executive functions and emotional decoding processes and on the treatment of alcohol dependence.