Samuel Ejiro Uwhejevwe-Togbolo, Ajueyitse Martins Otuedon, Jacob Martins Sigah, Theresa Nkechi Ofor · 6 authors
The study examined optimized design of digital ledger posting based on virtual reality technology. The convention of Virtual Reality (VR) and Distributed Ledger Technology (DLT) is a revolutionary change in the design and interaction of digital systems. The study finds that there are several design principles and technological considerations that were critical to the implementation of VR-enhanced digital ledger systems to succeed by a thorough examination of the existing literature and case studies. This research design is a qualitative study and will involve an exploratory approach to research the topic of Virtual Reality (VR) implementation with digital ledger posting systems. The study mainly includes a literature review and case study analysis of the existing literature and case studies in order to draw best practice and practical information. Case studies are also used as one of the main methodological instruments to provide the real-life examples of VR in financial, accounting, and the sphere of supply chains. The research is aimed at gaining insight into the way VR would maximize digital ledger posting, and not the quantification of predetermined variables. It was revealed in the study that VR provides users with many chances to perceive multidimensional datasets in a way that is not possible in a traditional 2D interface. The study concluded that the ongoing development of the digital economy, these systems will be able to increase the levels of transparency, minimize errors, and promote more efficient and cooperative and resilient organizational processes.
Mehmed Oğuz Şen, Fatıh Okumuş, Adnan Fatıh Kocamaz
Decentralized task allocation is a critical challenge in multi-robot systems, particularly in scenarios where autonomy, scalability, and robustness are essential. While centralized approaches simplify coordination, they suffer from limitations such as single points of failure and poor scalability in dynamic environments. This paper presents a comparative evaluation of three decentralized and distributed task allocation algorithms integrated into a blockchain-powered multi-robot system where Hyperledger Fabric is used as blockchain platform. Each algorithm employs a cost-based selection mechanism to assign tasks autonomously while leveraging a distributed ledger for data consistency and conflict resolution. The algorithms -Euclidean distance, TEB motion planner and every robot computing all robots' costs- are evaluated for a system of three TIAGo++ robots in two different simulation environments. Performance metrics include computational overhead and task request conflict rates. Results show that while Euclidean distance offers the lowest overhead, it suffers from high conflict rates; TEB motion planner improves fairness with moderate overhead; and every robot computing all robots' costs ensures the highest consistency at the cost of increased computation. The findings highlight key trade-offs in decentralized coordination and offer guidance for designing scalable and reliable blockchain-powered multi robot systems.
Wenqian Xue, Bosen Lian, Yusuf Kartal, Jialu Fan · 6 authors
This paper proposes a data-driven model-free inverse reinforcement learning (IRL) algorithm tailored for solving an inverse$H_{\infty } $control problem. In the problem, both an expert and a learner engage in$H_{\infty } $control to reject disturbances and the learner’s objective is to imitate the expert’s behavior by reconstructing the expert’s performance function through IRL techniques. Introducing zero-sum game principles, we first formulate a model-based single-loop IRL policy iteration algorithm that includes three key steps: updating the policy, action, and performance function using a new correction formula and the standard inverse optimal control principles. Building upon the model-based approach, we propose a model-free single-loop off-policy IRL algorithm that eliminates the need for initial stabilizing policies and prior knowledge of the dynamics of expert and learner. Also, we provide rigorous proof of convergence, stability, and Nash optimality to guarantee the effectiveness and reliability of the proposed algorithms. Furthermore, we showcase the efficiency of our algorithm through simulations and experiments, highlighting its advantages compared to the existing methods.Note to Practitioners—Generally, the cost function for optimal tracking or imitation control is manually defined, which is a challenging task and may result in large tracking errors and slow tracking. In such cases, IRL is a powerful tool for reconstructing proper cost functions. Real-world systems, as demonstrated in practical cases, are frequently exposed to external disturbances and come with unknown models. Employing$H_{\infty } $control is an effective strategy to handle disturbances. However, applying model-free IRL to solve the inverse problem of$H_{\infty } $control for imitation remains an underexplored domain. This paper explores model-free inverse$H_{\infty } $control for imitating expert behaviors, specifically addressing the time-consuming nature of the existing IRL studies that employ a two-loop iteration structure. We propose an efficient single-loop IRL algorithm with a new framework to do this. It is data-driven and model-free, eliminating the need to find an initial stabilizing control policy, which is typically challenging. Additionally, it ensures convergence, stability, and optimality with provable guarantees.
Mario Sergio Schlichting, Simone Keller Füchter, Marcio Sergio Schlichting, Karen Alexander
More and more, our daily lives are entwined with technology. Our interactions with other people increasingly take place in virtual encounters. Many different concepts have appeared to describe the various virtual experiences that we might have. Recently the idea of the Metaverse has become prominent as a way to describe the digital realm in which we interact with objects, environments, and other people. But there is disagreement and confusion about what the Metaverse actually is. This review aims to bring different concepts and meanings to technologies that sometimes work in a complementary way to enable the Metaverse. Virtual Reality, Augmented Reality, and Mixed Reality, the Web or the Internet, and Blockchain or Distributed Ledger Technology are some concepts discussed and compared in this paper. After a clarification of their differences and similarities, this study also presents the concept of the Metaverse, a complex virtual world where many activities, including commerce, can take place and where avatars may be used to facilitate social experiences and make them feel more like real interactions. The methodology used in this study was a mix of Literature Review and Critical Review and the results presented show characteristics and particularities that allow a better understanding of virtual technologies and the Metaverse.