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Abstract

A Hierarchical Ensembles of Autonomous Decision Systems (HEADS) system with a recursive ensemble weighting update is proposed. The system is built on fuzzy logic leading to an understandable and tractable logic design that leverages subject matter experts to design system operations. The hierarchical structure enables multi-layered logic for granular control and decisions incorporating inferred information. The control output from each ensemble is a mixture from independently trained fuzzy systems processed through a gating network. The gating network weights are updated recursively. Each expert uses a subset of the input space to minimize per-expert complexity and support ensemble robustness under uncertain or evolving state realizations and operating environments. Finally, autonomy based on fuzzy systems offers the potential for increased human comprehension of an agent's status and decision logic.

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