Social Mental Shaping: Modelling the Impact of Sociality on Autonomous Agents' Mental States

This paper presents a framework that captures how the social nature of agents that are situated in a multi-agent environment impacts upon their individual mental states. Roles and relationships provide an abstraction upon which we develop the notion of social mental shaping. This allows us to extend the standard Belief-Desire-Intention model to account for how common social phenomena (e.g. cooperation, collaborative problem-solving and negotiation) can be integrated into a unified theoretical perspective that reflects a fully explicated model of the autonomous agent's mental state

Collaborative Foraging Using a new Pheromone and Behavioral Model

International audiencewe consider the problem of foraging with multiple agents, in which agents must collect disseminate resources in an unknown and complex environment. An efficient foraging should benefit from the presence of multiple agents, where cooperation between agents is a key issue for improvements. To do so, we propose a new distributed foraging mechanism. The aim is to adopt a new behavioral model regarding sources' affluence and pheromone's management. Simulations are done by considering agents as autonomous robots with goods transportation capacity, up to swarms that consist of 160 robots. Results demonstrate that the proposed model gives better results than c-marking agent model

Improving Ad-Hoc Cooperation in Multiagent Reinforcement Learning via Skill Modeling

Machine learning is a versatile tool allowing for, among other things, training intelligent agents capable of autonomously acting in their environments. In particular, Multiagent Reinforcement Learning has made tremendous progress enabling such agents to interact with one another in an effective manner. One of the challenges that this field is still facing, however, is the problem of ad-hoc cooperation, or cooperation with agents that have not been previously encountered. This thesis explores one possible approach to tackle this issue, using the psychology-inspired idea of Theory of Mind. Specifically, a component designed to explicitly model the skill level of the other agent is included, to allow the primary agent to better choose its actions. The results show that this approach does in fact facilitate better coordination in an environment designed to test this skill and is a promising method for more complicated scenarios. The potential applications can be found in any situation that requires coordination between multiple intelligent agents (which may also include humans), such as traffic coordination between autonomous vehicles, or rescue operations where autonomous agents and humans have to work together to efficiently search an area

Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then planning the ego agent's motion in the remaining free space. However, agents' lack of awareness of their influence on others can lead to the freezing robot problem. We build upon Interaction-Aware Model Predictive Path Integral (IA-MPPI) control and combine it with learning-based trajectory predictions, thereby relaxing its reliance on communicated short-term goals for other agents. We apply this framework to Autonomous Surface Vessels (ASVs) navigating urban canals. By generating an artificial dataset in real sections of Amsterdam's canals, adapting and training a prediction model for our domain, and proposing heuristics to extract local goals, we enable effective cooperation in planning. Our approach improves autonomous robot navigation in complex, crowded environments, with potential implications for multi-agent systems and human-robot interaction.Comment: Accepted for presentation at the 2023 IEEE International Symposium on Multi-Robot & Multi-Agent System

A mobile agent strategy for grid interoperable virtual organisations

During the last few years much effort has been put into developing grid computing and proposing an open and interoperable framework for grid resources capable of defining a decentralized control setting. Such environments may define new rules and actions relating to internal Virtual Organisation (VO) members and therefore posing new challenges towards to an extended cooperation model of grids. More specifically, VO policies from the viewpoint of internal knowledge and capabilities may be expressed in the form of intelligent agents thus providing a more autonomous solution of inter-communicating members. In this paper we propose an interoperable mobility agent model that performs migration to any interacting VO member and by traveling within each domain allows the discovery of resources dynamically. The originality of our approach is the mobility mechanism based on traveling and migration which stores useful information during the route to each visited individual. The method is considered under the Foundation for Intelligent Physical Agents (FIPA) standard which provides an on demand resource provisioning model for autonomous mobile agents. Finally the decentralization of the proposed model is achieved by providing each member with a public profile of personal information which is available upon request from any interconnected member during the resource discovery process

Multi-agent Contracting and Reconfiguration in Competitive Environments using Acquaintance Models

Cooperation of agents in competitive environments is more complicated than in collaborative environments. Both replanning and reconfiguration play a crucial role in cooperation, and introduce a means for implementating a system flexibility. The concepts of commitments, decommitments with penalties and subcontracting may facilitate effective reconfiguration and replanning. Agents in competitive environments are fully autonomous and selfinterested. Therefore the setting of penalties and profit computation cannot be provided centrally. Both the costs and the gain differ from agent to agent with respect to contracts already agreed and resources load. This paper proposes an acquaintance model for contracting in competitive environments and introduces possibilities of reconfigurating in competitive environments as a means of decommitment optimization with respect to resources load and profit maximization. The presented algorithm for contract price setting does not use any centralized knowledge and provides results corresponding to a realistic environment. A simple customerprovider scenario proves this algorithm in competitive contracting.

The implications of shared identity on indirect reciprocity

The ability to sustain indirect reciprocity is an example of collective intelligence. It is increasingly relevant to future technology and autonomous machines that need to function in a coalition. Indirect reciprocity involves providing benefit to others without guaranteeing a future return. The identity through which an agent presents itself to others is fundamental, as this is how the reputation of an agent is considered. In this paper, we examine the sharing of identity between agents, which is an important and frequently overlooked issue when considering indirect reciprocity. We model an agent's identity using traits, which can be shared with other agents, and offer a basis for an agent to change their identity. Through this approach, we determine how shared identity affects cooperation, and the conditions through which cooperation can be sustained. This also helps us to understand how and why behavioural strategies involving identity function are put in place, such as whitewashing. The framework offers the opportunity to assess the interplay between the sharing of traits and the cost, in terms of reduced cooperation and opportunities for shirkers to benefit

The agent architecture InteRRaP : concept and application

One of the basic questions of research in Distributed Artificial Intelligence (DAI) is how agents have to be structured and organized, and what functionalities they need in order to be able to act and to interact in a dynamic environment. To cope with this question is the purpose of models and architectures for autonomous and intelligent agents. In the first part of this report, InteRRaP, an agent architecture for multi-agent systems is presented. The basic idea is to combine the use of patterns of behaviour with planning facilities in order to be able to exploit the advantages both of the reactive, behaviour-based and of the deliberate, plan-based paradigm. Patterns of behaviour allow an agent to react flexibly to changes in its environment. What is considered necessary for the performance of more sophisticated tasks is the ability of devising plans deliberately. A further important feature of the model is that it explicitly represents knowledge and strategies for cooperation. This makes it suitable for describing high-level interaction among autonomous agents. In the second part of the report, the loading-dock domain is presented, which has been the first application the InteRRaP agent model has been tested with. An automated loading-dock is described where the agent society consists of forklifts which have to load and unload trucks in a shared, dynamic environment

Формирование требуемой топологии структуры группы автономных агентов на основе локальной самоорганизации

Розроблено модель взаємодії автономних агентів мультиагентної системи на основі самоорганізації. Запропоновано метод побудови законів управління для кожного з агентів на основі поєднання матриць Кирхгофа, множини векторів взаємних положень та комбінованих потенційних функцій притягування–відштовхування. Здійснено моделювання запропонованого підходу для задачі формування структури мультиагентної системи з заданою топологією.The paper develops a model for the cooperation of autonomous agents of a multiagent system based on self-coordination. For each agent, a method of setting up control laws is proposed based on the Kirchhoff matrices, sets of mutual-position vectors, and combined attraction-repulsion potential functions. The proposed approach was modeled for the formation of the structure of a multiagent system with a desired topology