Non-Commutative Logic for Collective Decision-Making with Perception Bias

Abstract

In this paper, we suggest an implementation of non-commutative logic and apply its operators for decision-making in a group of autonomous agents. The suggested operators extend the uninorm and absorbing norm aggregators and use an additional asymmetry parameter that defines the “level of non-commutativity”. The value of this parameter is specified using the perception bias of humans measured in the experiments. The suggested operators and decision-making method are illustrated by the simulated behavior of mobile robots in the group, which verified the possibility of processing systematic sensing errors, as well as of distinguishing and mimicking the biased decisions.

Keywords

• mobile robots
• swarm dynamics
• multivalued logic
• non-commutative algebra
• decision-making
• uncertainty