Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li, Yanjun Huang and Muhammad Aizzat Zakaria (October 2nd 2019). Introductory Chapter: Roles of Path Planning in Providing Reliable Navigation and Control for Autonomous Vehicles and Robots, Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver, Umar Zakir Abdul Hamid, Volkan Sezer, Bin Li, Yanjun Huang and Muhammad Aizzat Zakaria, IntechOpen, DOI: 10.5772/intechopen.88634.

Antonio Sgorbissa (December 1st 2006). Multi-Robot Systems and Distributed Intelligence: The ETHNOS Approach to Heterogeneity, Mobile Robotics, Moving Intelligence, Jonas Buchli, IntechOpen, DOI: 10.5772/4733.

New Zealand

Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods—such as deep reinforcement learning—are emerging as a promising approach to automatically design intelligent driving policies that can cope with these challenges. Yet, the process of safely learning multi-vehicle driving behaviours is hard: while collisions—and their near-avoidance—are essential to the learning process, directly executing immature policies on autonomous vehicles raises considerable safety concerns. In this article, we present a safe and efficient framework that enables the learning of driving policies for autonomous vehicles operating in a shared workspace, where the absence of collisions cannot be guaranteed. Key to our learning procedure is a sim2real approach that uses real-world online policy adaptation in a mixed reality setup, where other vehicles and static obstacles exist in the virtual domain. This allows us to perform safe learning by simulating (and learning from) collisions between the learning agent(s) and other objects in virtual reality. Our results demonstrate that, after only a few runs in mixed reality, collisions are significantly reduced.


AAMAS 2020

Mixed Reality Reinforcement Learning For Autonomous Multi-Lane Driving

AAMAS is the largest and most influential conference in the area of agents and multiagent systems, bringing together researchers and practitioners in all areas of agent technology and providing and internationally renowned high-profile forum for publishing and finding out about the latest developments in the field. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).  

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AAMAS 2021

technical paper

AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). The aim of the joint conference is to provide a single, high-profile, internationally-respected archival forum for scientific research in the theory and practice of autonomous agents and multi-agent systems.

Browse keynotes, discussions, panels and over 300 presentations.


AAMAS is the leading scientific conference for research in autonomous agents and multi-agent systems. The AAMAS conference series was initiated in 2002 as the merging of three respected scientific meetings: the International Conference on Multi-Agent Systems (ICMAS), the International Workshop on Agent Theories, Architectures, and Languages (ATAL), and the International Conference on Autonomous Agents (AA). 

An Agent-Based Model for Trajectory Modelling in Shared Spaces: A Combination of Expert Based and Deep Learning Approaches

Online social networks lack support for the collaborative management of access control. This is crucial for content that may involve multiple users such as photos, as this lack of support causes conflicts that lead to privacy violations. Previous research proposed collaborative mechanisms to support users in these cases, but most of these attempts fail to satisfy some desirable requirements, such as explainability, role-agnosticism, adaptability, and being utility- and value-driven at the same time. In this paper, we outline an agent architecture that has been designed to meet all these requirements.


Towards a Value-driven Explainable Agent for Collective Privacy

The booming sharing economy has a common challenge in motivating agents, by truthful actions, to follow the economic design of the market maker. For the well known BitTorrent network, there has been an array of theoretical research in the study of the truthfulness of the proportional response protocol formulated to model its tit-for-tat strategy. Some works confirm the truthfulness for deviations against the false name attack, weight cheating, and edge deleting. Others reveal it not truthful against Sybil attack where an agent may split its resource among its different copies. Though truthfulness cannot be guaranteed, the incentives are shown to generate a limited gain for agents pursuing such an attack in several special networks, such as trees, cliques, and cycles. In this work, we establish the first such results for general networks, proving a \theta(1) incentive ratio for any agent playing such an attack.


Limiting the Deviation Incentives in Resource Sharing Networks

Adversarial attacks have exposed a significant security vulnerability in state-of-the-art machine learning models. Among these models include deep reinforcement learning agents. The existing methods for attacking reinforcement learning agents assume the adversary either has access to the target agent's learned parameters or the environment that the agent interacts with. In this work, we propose a new class of threat models, called snooping threat models, that are unique to reinforcement learning. In these snooping threat models, the adversary does not have the ability to interact with the target agent's environment, and can only eavesdrop on the action and reward signals being exchanged between agent and environment. We show that adversaries operating in these highly constrained threat models can still launch devastating attacks against the target agent by training proxy models on related tasks and leveraging the transferability of adversarial examples.


Snooping Attacks on Deep Reinforcement Learning

An interaction protocol specifies a decentralized multiagent system operationally by specifying constraints on messages exchanged by its member agents.  Engineering with protocols requires support for a notion of refinement, whereby a protocol may be substituted without loss of correctness by one that refines it.  We identify two desiderata for refinement. One, generality: refinement should not restrict enactments by limiting protocols or infrastructures under consideration.  Two, preservation: to facilitate modular verification, refinement should preserve liveness and safety.

  We contribute a novel formal notion of protocol refinement based on enactments. We demonstrate generality by tackling the declarative framework of information protocols.  We demonstrate preservation by formally establishing that our notion of refinement is safety and liveness preserving. We show the practical benefits of refinement by implementing a checker. We demonstrate that it is less time-intensive to check refinement (and thereby gain safety and liveness) than to recheck safety and liveness of a composition.


Refinement for Multiagent Protocols

We propose a formalism to model and reason about multi-agent systems. We allow agents to interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange data, adapt their behaviour, and reconfigure their communication interfaces. The formalism defines a local behaviour based on shared variables and a global one based on message passing. We extend LTL to be able to reason explicitly about the intentions of the different agents and their interaction protocols. We also study the complexity of satisfiability and model-checking of this extension.


Reconfigurable Interaction for MAS Modelling

In this paper we present a novel approach to optimise tactical and strategic decision making in football (soccer). We model the game of football as a multi-stage game which is made up from a Bayesian game to model the pre-match decisions and a stochastic game to model the in-match state transitions and decisions. Using this formulation, we propose a method to predict the probability of game outcomes and the payoffs of team actions. Building upon this, we develop algorithms to optimise team formation and in-game tactics with different objectives. Empirical evaluation of our approach on real-world datasets from 760 matches shows that by using optimised tactics from our Bayesian and stochastic games, we increase a team chances of winning by 16.1% and 3.4% respectively. 


Optimising Game Tactics for Football

We propose a market-inspired bidding scheme for the assignment of paper reviews in large academic conferences. The primary contribution is an analysis of the incentives of reviewers during the bidding phases, when reviewers have private costs and some information about the demand for each paper, and want to obtain the best possible k papers for a predetermined k. We show that by assigning budgets to reviewers and a `price' for every paper that is (roughly) inversely proportional to its demand, the best response of a reviewer is to bid sincerely, i.e., on her most favorite papers, and match the budget even when it is not enforced. Finally, we show via extensive simulations on bidding data from real conferences, that our suggested bidding scheme would substantially improve the assignment, under several common assignment algorithms.

A Market-Inspired Bidding Scheme for Peer Review Paper Assignment

Equitable Allocations of Invisible Chores

Reinforcement Learning (RL) has been widely used to solve sequential decision-making problems. However, RL algorithms suffer from poor sample efficiency and require a long time to learn a suitable policy, especially when multiple agents are learning without prior knowledge. This problem can be alleviated through reusing knowledge from other agents during the learning process. One notable approach is advising actions based on a teacher-student relationship, where the decision of a student agent during learning is aided by an experienced teacher agent. A critical assumption in teacher-student paradigm is that the communication may be limited, so that a student may wait for a while and learn by itself before receiving the next advice. More importantly, in some noisy or stochastic environments, the student may not be able to mas- ter the advised actions when they are only performed once. We propose three methods for agents choosing between learning by exploration, asking for advice and reusing previous advice. The results show that our approaches significantly outperform existing advising methods without reusing advice.


Mixed Reality Reinforcement Learning For Autonomous Multi-Lane Driving

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An Agent-Based Model for Trajectory Modelling in Shared Spaces: A Combination of Expert Based and Deep Learning Approaches

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Mixed Reality Reinforcement Learning For Autonomous Multi-Lane Driving

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Next from AAMAS 2020

An Agent-Based Model for Trajectory Modelling in Shared Spaces: A Combination of Expert Based and Deep Learning Approaches

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An Autonomous Drive Balancing Strategy for the Design of Purpose in Open-ended Learning Robots

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