Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Systematically Engineering Self-Organizing Systems: The SodekoVS Approach

Self-organizing systems promise new software quality attributes that are very hard to obtain using standard software engineering approaches. In accordance with the visions of e.g. autonomic computing and organic computing, self-organizing systems promote self-adaptability as one major property helping to realize software that can manage itself at runtime. In this respect, self-adaptability can be seen as a necessary foundation for realizing e.g. self* properties such as self-configuration or self-protection. However, the systematic development of systems exhibiting such properties challenges current development practices. The SodekoVS project addresses the challenge to purposefully engineer adaptivity by proposing a new approach that considers the system architecture as well as the software development methodology as integral intertwined aspects for system construction. Following the proposed process, self-organizing dynamics, inspired by biological, physical and social systems, can be integrated into applications by composing modules that distribute feedback control structures among system entities. These compositions support hierarchical as well as completely decentralized solutions without a single point of failure. This novel development conception is supported by a reference architecture, a tailored programming model as well as a library of ready to use self-organizing patterns. The key challenges, recent research activities, application scenarios as well as intermediate results are discussed

Bio-inspired Approaches for Engineering Adaptive Systems

AbstractAdaptive systems are composed of different heterogeneous parts or entities that interact and perform actions favouring the emer- gence of global desired behavior. In this type of systems entities might join or leave without disturbing the collective, and the system should self-organize and continue performing their goals. Furthermore, entities must self-evolve and self-improve by learn- ing from their interactions with the environment. The main challenge for engineering these systems is to design and develop distributed and adaptive algorithms that allow system entities to select the best suitable strategy/action and drive the system to the best suitable behavior according to the current state of the system and environment changes. This paper describes existing work related to the development of adaptive systems and approaches and shed light on how features from natural and biological systems could be exploited for engineering adaptive approaches

A survey on engineering approaches for self-adaptive systems (extended version)

The complexity of information systems is increasing in recent years, leading to increased effort for maintenance and configuration. Self-adaptive systems (SASs) address this issue. Due to new computing trends, such as pervasive computing, miniaturization of IT leads to mobile devices with the emerging need for context adaptation. Therefore, it is beneficial that devices are able to adapt context. Hence, we propose to extend the definition of SASs and include context adaptation. This paper presents a taxonomy of self-adaptation and a survey on engineering SASs. Based on the taxonomy and the survey, we motivate a new perspective on SAS including context adaptation

04411 Abtracts Collection -- Service Management and Self-Organization in IP-based Networks

From 03.10.04 to 06.10.04, the Dagstuhl Seminar 04411 ``Service Management and Self-Organization in IP-based Networks\u27\u27 was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

An Aspect-Oriented Approach for Supporting Autonomic Reconfiguration of Software Architecture

The increasing complexity of current software systems is encouraging the development of self-managed software architectures, i.e. systems capable of reconfiguring their structure at runtime to fulfil a set of goals. Several approaches have covered different aspects of their development, but some issues remain open, such as the maintainability or the scalability of self-management subsystems. Centralized approaches, like self-adaptive architectures, offer good maintenance properties but do not scale well for large systems. On the contrary, decentralized approaches, like self-organising architectures, offer good scalability but are not maintainable: reconfiguration specifications are spread and often tangled with functional specifications. In order to address these issues, this paper presents an aspect-oriented autonomic reconfiguration approach where: (1) each subsystem is provided with self-management properties so it can evolve itself and the components that it is composed of; (2) self-management concerns are isolated and encapsulated into aspects, thus improving its reuse and maintenance. Povzetek: Predstavljen je pristop s samo-preoblikovanjem programske arhitekture