Social norms are powerful formalism in coordinating autonomous agents' behaviour to achieve certain objectives. In this paper, we propose a dynamic normative system to enable the reasoning of the changes of norms under different circumstances, which cannot be done in the existing static normative systems. We study two important problems (norm synthesis and norm recognition) related to the autonomy of the entire system and the agents, and characterise the computational complexities of solving these problems.
Norm synthesis for static normative systems. As stated, most current formalisms of normative systems are static. @cite_7 shows that this norm synthesis problem is NP-complete. @cite_3 proposes a norm synthesis algorithm in declarative planning domains for reachability objectives, and @cite_8 considers the on-line synthesis of norms. @cite_10 considers the norm synthesis problem by conditioning over agents' preferences, expresses as pairs of LTL formula and utility, and a normative behaviour function.
@cite_3 @cite_10 @cite_7 @cite_8
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Normative systems (norms) have been widely proposed as a technique for coordinating multi-agent systems. The automated synthesis of norms for coordination remains an open and complex problem, which we tackle in this paper. We propose a novel mechanism called IRON (Intelligent Robust On-line Norm synthesis mechanism), for the on-line synthesis of norms. IRON aims to synthesise conflict-free norms without lapsing into over-regulation. Thus, IRON produces norms that characterise necessary conditions for coordination, without over-regulation. In addition to defining the norm synthesis problem formally, we empirically show that IRON is capable of synthesising norms that are effective even in the presence of non-compliance behaviours in a system. We provide a uniform solution to the problem of synthesizing a finite-state distributed system. An instance of the synthesis problem consists of a system architecture and a temporal specification. The architecture is given as a directed graph, where the nodes represent processes (including the environment as a special process) that communicate synchronously through shared variables attached to the edges. The same variable may occur on multiple outgoing edges of a single node, allowing for the broadcast of data. A solution to the synthesis problem is a collection of finite-state programs for the processes in the architecture, such that the joint behavior of the programs satisfies the specification in an unrestricted environment. We define information forks, a comprehensive criterion that characterizes all architectures with an undecidable synthesis problem. The criterion is effective: for a given architecture with n processes and v variables, it can be determined in O(n sup 2 spl middot v) time whether the synthesis problem is decidable. We give a uniform synthesis algorithm for all decidable cases. Our algorithm works for all spl omega -regular tree specification languages, including the spl mu -calculus. The undecidability proof, on the other hand, uses only LTL or, alternatively, CTL as the specification language. Our results therefore hold for the entire range of specification languages from LTL CTL to the spl mu -calculus. Wide-baseline matching focussing on problems with extreme viewpoint change is considered. We introduce the use of view synthesis with affine-covariant detectors to solve such problems and show that matching with the Hessian-Affine or MSER detectors outperforms the state-of-the-art ASIFT. To minimise the loss of speed caused by view synthesis, we propose the Matching On Demand with view Synthesis algorithm (MODS) that uses progressively more synthesized images and more (time-consuming) detectors until reliable estimation of geometry is possible. We show experimentally that the MODS algorithm solves problems beyond the state-of-the-art and yet is comparable in speed to standard wide-baseline matchers on simpler problems. Minor contributions include an improved method for tentative correspondence selection, applicable both with and without view synthesis and a view synthesis setup greatly improving MSER robustness to blur and scale change that increase its running time by 10 only. We present a novel and scalable policy synthesis approach for robots. Rather than producing single-path plans for a static environment, we consider changing environments with uncontrollable agents, where the robot needs a policy to respond correctly over the infinite-horizon interaction with the environment. Our approach operates on task and motion domains, and combines actions over discrete states with continuous, collision-free paths. We synthesize a task and motion policy by iteratively generating a candidate policy and verifying its correctness. For efficient policy generation, we use grammars for potential policies to limit the search space and apply domain-specific heuristics to generalize verification failures, providing stricter constraints on policy candidates. For efficient policy verification, we construct compact, symbolic constraints for valid policies and employ a Satisfiability Modulo Theories (SMT) solver to check the validity of these constraints. Furthermore, the SMT solver enables quantitative specifications such as energy limits. The results show that our approach offers better scalability compared to a state-of-the-art policy synthesis tool in the tested benchmarks and demonstrate an order-of-magnitude speedup from our heuristics for the tested mobile manipulation domain.