Cooperative planning for physically interacting heterogeneous robots.

Heterogeneous multi-agent systems can be deployed to complete a variety of tasks, including some that are impossible using a single generic modality. This paper introduces an approach to solving the problem of cooperative behavior planning in small heterogeneous robot teams where members can both function independently as well as physically interact with each other in ways that give rise to additional functionality. This approach enables, for the first time, the cooperative completion of tasks that are infeasible when using any single modality from those agents comprising the team.

Statistical Relational Learning With Unconventional String Models.

This paper shows how methods from statistical relational learning can be used to address problems in grammatical inference using model-theoretic representations of strings. These model-theoretic representations are the basis of representing formal languages logically. Conventional representations include a binary relation for order and unary relations describing mutually exclusive properties of each position in the string. This paper presents experiments on the learning of formal languages, and their stochastic counterparts, with unconventional models, which relax the mutual exclusivity condition. Unconventional models are motivated by domain-specific knowledge. Comparison of conventional and unconventional word models shows that in the domains of phonology and robotic planning and control, Markov Logic Networks With unconventional models achieve better performance and less runtime with smaller networks than Markov Logic Networks With conventional models.