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Near optimal swarm deployment using Descriptor Functions

Marta Niccolini, Mario Innocenti, Lorenzo Pollini
2010 2010 IEEE International Conference on Robotics and Automation  
The capabilities of each agent are modeled with Descriptor Functions; the sum of these functions constitutes the swarm's descriptor.  ...  A control law is proposed, which is capable of driving the agents towards the achievement of the goal. The existence of local minima and of a global minimum is discussed.  ...  Despite the growing research literature in the field, less attention has been paid to systems composed of heterogeneous agents.  ... 
doi:10.1109/robot.2010.5509984 dblp:conf/icra/NiccoliniIP10 fatcat:x2jyoghrufg4fljj6o62a7g2ia

A Receding Horizon Scheduling Approach for Search Rescue Scenarios [article]

Yousef Emam, Sean Wilson, Mathias Hakenberg, Ulrich Munz, Magnus Egerstedt
2020 arXiv   pre-print
This work presents a Receding Horizon Planning (RHP) framework aimed at scheduling tasks for heterogeneous multi-agent teams in a robust manner.  ...  Many applications involving complex multi-task problems such as disaster relief, logistics and manufacturing necessitate the deployment and coordination of heterogeneous multi-agent systems due to the  ...  However, given the set of tasks T and the set of agents A, the number of possible schedules grows with O(|A| |T | ), rendering the enumeration of all schedules intractable.  ... 
arXiv:2004.02347v1 fatcat:h5swt7l56ngidalxajf5r3ypsy

CyPhyHouse: A Programming, Simulation, and Deployment Toolchain for Heterogeneous Distributed Coordination [article]

Ritwika Ghosh, Joao P. Jansch-Porto, Chiao Hsieh, Amelia Gosse, Minghao Jiang, Hebron Taylor, Peter Du, Sayan Mitra, Geir Dullerud
2019 arXiv   pre-print
A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents.  ...  The same compiled code can also be deployed on heterogeneous mobile platforms.  ...  For Task, we simulate with both cars and quadcopters to showcase the coordination between heterogeneous devices.  ... 
arXiv:1910.01557v2 fatcat:q7g2qajudrbxhic62xn4khnjpq

Issues and approaches in the design of collective autonomous agents

Maja J. Matarić
1995 Robotics and Autonomous Systems  
The problem of synthesizing and analyzing collective autonomous agents has only recently begun to be practically studied by the robotics community.  ...  Furthermore, since global planning requires communication between the agents and the controller, the bandwidth can grow w i t h t h e n umber of agents.  ...  In contrast, MAS work deals with heterogeneous, not necessarily centrally designed agents faced with the goal of utility{maximizing coexistence.  ... 
doi:10.1016/0921-8890(95)00053-4 fatcat:v66gjzzicndxdklnelyt76crgu

Genetic Team Composition and Level of Selection in the Evolution of Cooperation

Markus Waibel, Laurent Keller, Dario Floreano
2009 IEEE Transactions on Evolutionary Computation  
with individual-level selection and genetically heterogeneous teams evolved with team-level selection.  ...  The majority of current studies use teams composed of agents with identical control rules ("genetically homogeneous teams") and select behavior at the team level ("team-level selection").  ...  As the number of interacting agents in a team grows, or when agent behaviors become more sophisticated, the design of suitable control rules rapidly becomes very complex.  ... 
doi:10.1109/tevc.2008.2011741 fatcat:plm26wowxndlxcfip3cuwqokom

A General Distributed Architecture for Resilient Monitoring over Heterogeneous Networks [chapter]

Fábio Januário, Alberto Cardoso, Paulo Gil
2014 IFIP Advances in Information and Communication Technology  
The growing developments on networked devices, with different communication structures and capabilities made possible the emergence of new architectures for monitoring systems.  ...  Its implementation relies on multi-agent systems within a distributed middleware.  ...  interact and communicate with one another for the sake of their own teleonomy; Intelligence: in order to evaluate and take over a task, in an autonomous way, an agent should incorporate intelligent techniques  ... 
doi:10.1007/978-3-642-54734-8_15 fatcat:hhqxpujfxfd73fp46mcjb2n2le

Transportation system architecture for intelligent management [chapter]

J Szpytko
2009 Marine Navigation and Safety of Sea Transportation  
Moreover control models of large-scale distributed enterprises systems and transport active knowledge base management model have been presented.  ...  a task in the manufacturing system; they control the logistics aspects of the production as much as the negotiations with other order holons or with resource holons in order for the task to which it corresponds  ...  The selected tasks of activity execution subsystem are: decompose tasks assigned by the AES to sub-tasks, multi-operation with other AES agents activities to solve inter-network problems (interoperability  ... 
doi:10.1201/9780203869345.ch96 fatcat:vadb5flrbfh5thfiqsofku5i6y

Decentralized discrete-event modeling and control of task execution for robotic networks

Donato Di Paola, Andrea Gasparri, David Naso, Frank L. Lewis
2012 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)  
This paper describes a decentralized approach to control the execution of a set of tasks for a network of heterogeneous robotic agents, i.e., agents with different sets of sensors and actuators.  ...  A consensus-based mechanism is exploited in the control system to achieve coherence among the agents state and synchronize the agents action.  ...  DECENTRALIZED CONTROL OF TASKS EXECUTION In this section we present the Decentralized Control of Tasks Execution (DCTE) algorithm, which actually controls the execution of tasks for the agent v i ∈ V with  ... 
doi:10.1109/cdc.2012.6426687 dblp:conf/cdc/PaolaGNL12 fatcat:2ym7232h5ncujhq5gijyaoru64

Cooperative Multi-Agent Reinforcement Learning for Multi-Component Robotic Systems: guidelines for future research

Manuel Graña, Borja Fernandez-Gauna, Jose Manuel Lopez-Guede
2011 Paladyn: Journal of Behavioral Robotics  
The extension of the RL paradigm to cope with the design of control systems for Multi-Component Robotic Systems (MCRS) poses new challenges, mainly related to coping with scaling up of complexity due to  ...  Scalar rewards are returned to the agent as response to its actions endorsing or opposing them. RL algorithms have been successfully applied to robot control design.  ...  Decentralized control improves scalability because control complexity grows linearly with the number of robots. · Accurate control.  ... 
doi:10.2478/s13230-011-0017-5 fatcat:blzr2yqkbrdyfbkvolwyb2koge

Multi-Agent Systems and Enterprise Modeling [chapter]

G. Pepiot, R. Glardon, M. Pouly
2000 Advances in Networked Enterprises  
Such an approach allows modeling the heterogeneous actors of the real world in terms of agents, focusing on communication and collaboration between them.  ...  In this context, the project oriented enterprises may be modeled by a multi-agent system representation.  ...  It is also of no help for the integration of heterogeneous software systems, a challenge of growing importance in a globalized economy.  ... 
doi:10.1007/978-0-387-35529-0_31 fatcat:laigfu5ocbhfzflywlcuijfktq

Intelligent Multi-Agent Based Information Management Methods to Direct Complex Industrial Systems

Danilo Avola, Luigi Cinque, Giuseppe Placidi
2012 Intelligent Information Management  
In particular, the Intelligent Agents (IAs) and the Multi-Agent Systems (MASs) paradigms seem to provide the best suitable solutions.  ...  of the logistic and technical aspects of the novel manufacturing environments, as well as the need to increase the performance and safety characteristics of the related cooperation, coordination and control  ...  ., executor agents) or information-oriented (i.e., acknowledger agents). Commonly, the sub-agents can have relationships only with sub-agents of the same task or with the related TMA.  ... 
doi:10.4236/iim.2012.46038 fatcat:rofswz5xanemzncrd65ntfxuvq

C-MAP: Framework for Multi-agent Planning in Cyber Physical Systems [chapter]

Sumant Mukherjee, Santunu Chaudhury
2013 Lecture Notes in Computer Science  
In this paper we propose a novel multi-agent planning framework that attempts to deal with dynamic nature of cyber physical system while planning and show usefulness of our approach in exploring different  ...  based multi-agent interaction.  ...  C-MAP Blackboard-Control agent directs the coordination process by managing how knowledge source (KS) agent responds to relevant event.  ... 
doi:10.1007/978-3-642-45062-4_32 fatcat:7vlr4533sbb67pgi4rvs3s3gdq

Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects

HaiBin Duan, SenQi Liu
2010 Science China Technological Sciences  
This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation, including heterogeneous flocking, formation control, formation stability, network control  ...  Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles, and enhance the effectiveness of implementing detection, search and rescue tasks.  ...  An important feature of this architecture is that the communication requirements grow linearly with the number of vehicles, making it scalable to tens and hundreds of robots.  ... 
doi:10.1007/s11431-010-0122-4 fatcat:dlpzfrtgd5cajdezvzzqmzdzlq

Pattern Formation in Homogeneous and Heterogeneous Swarms: Differences Between Versatile and Specialized Agents

Sven Magg, Rene te Boekhorst
2007 2007 IEEE Symposium on Artificial Life  
In this work the interchangeability of homogeneous and heterogeneous agent populations is investigated.  ...  It is shown that in a simple simulated environment, a mixed population of specialized agents can not be easily substituted by a homogeneous group of multi-tasking agents.  ...  In this work, the interchangeability of a heterogeneous robot population with a homogeneous population for a divisible task (i.e. the task can be divided into more or less independent sub tasks) is investigated  ... 
doi:10.1109/alife.2007.367811 dblp:conf/ieeealife/MaggB07 fatcat:pxh67ghwubegbmgv2nthh44uw4

A Foundational Analysis of Software Robustness Using Redundant Agent Collaboration [chapter]

Vance T. Holderfield, Michael N. Huhns
2003 Lecture Notes in Computer Science  
We did a comparison study between the different student's agents while working with each other independently and while working with each other as part of collaboration.  ...  As part of our investigation, we asked 53 students to independently build one agent for a simple Multiagent domain.  ...  Single agent control in a homogeneous system 2. Single agent control in a heterogeneous system 3.  ... 
doi:10.1007/3-540-36559-1_26 fatcat:nsw2rvl5a5e5njkvv73oyinwdm
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