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This is a comprehensive volume on robot teams that will be the standard reference on multi-robot systems. The volume provides not only the essentials of multi-agent robotics theory but also descriptions of exemplary implemented systems demonstrating the key concepts of multi-robot research. Information is presented in a descriptive manner and augmented with detailed mathematical formulations, photos, diagrams, and source code examples.
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Hedge Funds. These lightly regulated funds continually innovate new investing and trading strategies to take advantage of temporary mispricing of assets (when their market price deviates from their intrinsic value). These techniques are shrouded in mystery, which permits hedge fund managers to charge exceptionally high fees. While the details of each fund’s approach are carefully guarded trade secrets, this book draws the curtain back on the core building blocks of many hedge fund strategies. As an instructional text, it will assist two types of students: Economics and finance students interested in understanding what “quants” do; and software specialists interested in applying their skills to programming trading systems. Hedge Fund Secrets provides a needed complement to journalistic accounts of the hedge fund industry, to deepen the understanding of nonspecialist readers such as policy makers, journalists, and individual investors. The book is organized in modules to allow different readers to focus on the elements of this topic that most interest them. Its authors include a fund practitioner and a computer scientist (Balch), in collaboration with a public policy economist and finance academic (Romero).
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RoboCup2000,theFourthRobotWorldCupSoccerGamesandConferences, washeldfromAugust27thtoSeptember3rd,2000,attheMelbourneExhi- tionCenterinMelbourne,Australia. LikethepreviousinternationalRoboCup events-RoboCup97 in Nagoya, Japan; RoboCup98 in Paris, France; and RoboCup99inStockholm,Sweden-RoboCup2000includedatechnicalwo- shopaswellasseveralroboticsoccercompetitions. RoboCup2000introduced the?rstRoboCupJr. competitionforchildren,aswellasdemonstrationsof humanoidrobotsandoftheRoboCup-Rescuedisasterrescuesimulator. ThisbookdocumentsRoboCup2000. Itconsistsof(i)anoverview;(ii)ch- pionshippapersbythewinnersofthecompetitions;(iii)the?nalistpapersfor theRoboCupchallengeawards;(iv)thepapersandposterspresentedatthe workshop;and(v)descriptionsoftheteamsthatcompeted. Thebookbeginswithanoverviewarticleintroducingthecompetitionsand demonstrationsandincludingthescoresofallofthegamesinthefourc- petitionleagues:thesimulationleague,thesmall-sizerobot(F180)league,the middle-sizerobot(F2000)league,andtheSonyleggedrobotleague. Thefoll- ingsectionpresentsthechampionshippapersfromthewinnersoftheseleagues.TheRoboCupchallengeawardsaredistinctionsthataregivenannuallyto theRoboCup-relatedresearcherswiththegreatestpotentialtoadvancetheir respective?elds. InRoboCup2000,thechallengeaward?nalistswereselected fromamongtheworkshoppapers. Thefourselected?nalistpapersappearin thenextsection. TheannualRoboCupworkshopprovidesaforumforRoboCupresearchers toexchangeideasthataregenerallyapplicableacrossthedi?erentRoboCup leaguesand/orthatareofgeneralscienti?cinterest. TheRoboCup2000wo- shopreceivedmorethan60submissions,fromwhich20wereselectedforfull presentationandanadditional20wereselectedforposterpresentation. These researchpapersformthemainbodyofthisbook. Thebookconcludeswithdescriptionsofmostofthemorethan80teams thatcompetedinRoboCup2000. Theseteamdescriptionsservetocatalogthe fullrangeofresearchersandapproachesthathavebeenappliedtothechallenges putforthbyRoboCup. ThenextinternationalRoboCupeventswillbeheldinSeattle,USA(2001) andinFukuoka,Japan(2002).InadditiontoallexistingRoboCupevents,they arescheduledtointroduce(i)RoboCup-Rescuedisasterrescuecompetitionsfor thetransferofideasandtechniquesdevelopedinthesoccerdomaintoarelated task,and(ii)ahumanoidrobotcompetitionasasteptowardsthelong-termgoal ofcreatingafullteamofhumanoidrobotsthatcompeteonarealsoccer?eld. Welookforwardtocontinuingresearchinnovationsandexcitingdemonstrations ofroboticsandAItechnologyintheseandotherfutureRoboCupevents. March2000 PeterStone,TuckerBalch,andGerhardKraetzschmar RoboCupFederation TheRoboCupFederation,thegoverningbodyofRoboCup,isaninternational organizationthatpromotesscienceandtechnologyusingsoccergamesbyrobots andsoftwareagents.President: HiroakiKitano,JapanScienceandTechnologyCorporation,Japan Vice-Presidents: MinoruAsada,OsakaUniversity,Japan EnricoPagello,UniversityofPadua,Italy ManuelaVeloso,CarnegieMellonUniversity,USA Trustees: Hans-DieterBurkhard,HumboldtUniversity,Germany SilviaCoradeschi,OrebroUniversity,Sweden DominiqueDuhaut,UniversityofSouthernBretagne,France FransGroen,UniversityofAmsterdam,TheNetherlands AndrewJennings,RoyalMelbourneInstituteofTechnology,Australia MilindTambe,UniversityofSouthernCalifornia,USA ExecutiveCommittee: TuckerBalch,CarnegieMellonUniversity,USA AndreasBirk,FreeUniversityofBrussels,Belgium MasahiroFujita,SonyCorp. ,Japan GerhardKraetzschmar,UniversityofUlm,Germany PaulLevi,UniversityofStuttgart,Germany PedroLima,ISR/IST,TechnicalUniversityofLisbon,Portugal HenrikLund,UniversityofSouthernDenmark,Denmark DanieleNardi,UniversityofRome"LaSapienza",Italy ItsukiNoda,ETL,Japan DanielPolani,Lub .. eckUniversity,Germany Raul ' Rojas,UniversityofBerlin,Germany PeterStone,AT&TLabs-Research,USA SatoshiTadokoro,KobeUniversity,Japan GordonWyeth,UniversityofQueensland,Australia AdvisoryCommittee: LuigiaCarlucciAiello,Universit'adiRoma"LaSapienza",Italy DanielBobrow,XEROXPARC,USA MichaelBrady,OxfordUniversity,UK ToshioFukuda,NagoyaUniversity,Japan MichaelP.George?,AustralianAIInstitute,Australia AlanMackworth,UniversityofBritishColumbia,Canada DavidWaltz,NECResearch,USA WolfgangWahlster,DFKI,Germany RoboCup2000OrganizationandSupport GeneralChair: AndrewJennings,RoyalMelbourneInstituteofTechnology,Australia DeputyGeneralChair: JeremySamuel,AustralianAIInstitute,Australia OrganizingCo-chairs: EnricoPagello,UniversityofPadua,Italy ManuelaVeloso,CarnegieMellonUniversity,USA MinoruAsada,OsakaUniversity,Japan SimulatorLeagueCommittee: PaulScerri(chair),Link..opingUniversity,Sweden TomoichiTakahashi,ChubuUniversity,Japan GalKaminka,UniversityofSouthernCalifornia,USA MikhailProkopenko,CSIRO,Australia RyszardKowalczyk,CSIRO,Australia Small-SizeRobotLeague(F180)Committee: GordonWyeth(chair),UniversityofQueensland,Australia Raul ' Rojas,FreeUniversityofBerlin,Germany YukiNakagawa,KitanoSymbioticSystems,Japan AndrewHoward,UniversityofMelbourne,Australia Middle-SizeRobotLeague(F2000)Committee: Ste?enGutmann(chair),UniversityofFreiburg,Germany YongFookSeng,NgeeAnnPolytechnic,Singapore Wei-MinShen,UniversityofSouthernCalifornia,USA PaulParisi,AustralianAIInstitute,Australia SonyLeggedRobotLeagueCommittee: MasahiroFujita(chair),SonyCorp.,Japan MinoruAsada,OsakaUniversity,Japan ManuelaVeloso,CarnegieMellonUniversity,USA DominiqueDuhaut,UniversityofSouthernBretagne,France WorkshopProgramCommittee: PeterStone,(co-chair),AT&TLabs-Research,USA TuckerBalch(co-chair),CarnegieMellonUniversity,USA GerhardKraetzschmar(co-chair),UniversityofUlm,Germany GiovanniAdorni,UniversityofParma,Italy DavidAndre,U. C.Berkeley,USA RonArkin,GeorgiaInstituteofTechnology,USA AndreasBirk,UniversityofBrussels,Belgium AndreaBonarini,PolitecnicodiMilano,Italy MichaelBowling,CarnegieMellonUniversity,USA IanFrank,ElectrotechnicalLaboratory,JAPAN DougGage,SpaceandNavalWarfareSystemsCenter,USA WiebevanderHoek,UtrechtUniversity,TheNetherlands VIII OrganizationandSupport HuoshengHu,UniversityofEssex,UK KurtKonolige,SRIInternational,USA RobinMurphy,UniversityofSouthFlorida,USA LynneParker,OakRidgeNationalLaboratory,USA JukkaRiekki,UniversityofOulu,Finland Wei-MinShen,UniversityofSouthernCalifornia,USA Sho'jiSuzuki,OsakaUniversity,Japan MasayukiOhta,TokyoInstituteofTechnology,Japan GordonWyeth,UniversityofQueensland,Australia Supportedby: FujiXerox Australon RMITUniversity RoboCupWorldWideSponsors: SonyCorporation SGI TableofContents OverviewofRoboCup-2000 ...1 EditedbyPeterStonewithMinoruAsada,TuckerBalch, MasahiroFujita,GerhardKraetzschmar,HenrikLund, PaulScerri,SatoshiTadokoro,andGordonWyeth ChampionTeams FCPortugalTeamDescription:RoboCup2000SimulationLeagueChampion29 Lu'?sPauloReisandNunoLau TheCornellRoboCupTeam...41 Ra?aelloD'Andrea,Tamas ' Kalmar '-Nagy,PritamGanguly, andMichaelBabish CSFreiburg:DoingtheRightThinginaGroup ...52 ThiloWeigel,WilliAuerbach,MarkusDietl,BurkhardDuml .. er, Jens-Ste?enGutmann,KornelMarko,KlausMu..ller,BernhardNebel, BorisSzerbakowski,andMaximilianThiel TheUNSWRoboCup2000SonyLeggedLeagueTeam...64 BernhardHengst,DarrenIbbotson,SonBaoPham,JohnDalgliesh, MikeLawther,PhilPreston,andClaudeSammut ChallengeAwardFinalists AdaptivePathPlannerforHighlyDynamicEnvironments ...76 JackyBaltesandNicholasHildreth CommunicationandCoordinationAmongHeterogeneousMid-Size Players:ART99...86 ClaudioCastelpietra,LucaIocchi,DanieleNardi,MaurizioPiaggio, AlessandroScalzo,andAntonioSgorbissa ALocalizationMethodforaSoccerRobotUsingaVision-Based Omni-DirectionalSensor...96 CarlosF. MarquesandPedroU. Lima BehaviorClassi?cationwithSelf-OrganizingMaps ...108 MichaelWu..nstel,DanielPolani,ThomasUthmann,andJu..rgenPerl X TableofContents TechnicalPapers FullPapers FlexibleSynchronisationwithinRoboCupEnvironment:AComparative Analysis...119 MarcButler,MikhailProkopenko,andThomasHoward ExtendedQ-Learning:ReinforcementLearningUsingSelf-OrganizedState Space ...129 ShuichiEnokida,TakeshiOhasi,TakaichiYoshida,andToshiakiEjima AndtheFansAreGoingWild!SIGplusMIKE...139 IanFrank,KumikoTanaka-Ishii,HiroshiG.Okuno,JunichiAkita, YukikoNakagawa,K. Maeda,KazuhiroNakadai,andHiroakiKitano FastandAccurateRobotVisionforVisionBasedMotion...