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

Separating Agent-Functioning and Inter-Agent Coordination by Activated Modules: The DECOMAS Architecture

The embedding of self-organizing inter-agent processes in distributed software applications enables the decentralized coordination system elements, solely based on concerted, localized interactions. The separation and encapsulation of the activities that are conceptually related to the coordination, is a crucial concern for systematic development practices in order to prepare the reuse and systematic integration of coordination processes in software systems. Here, we discuss a programming model that is based on the externalization of processes prescriptions and their embedding in Multi-Agent Systems (MAS). One fundamental design concern for a corresponding execution middleware is the minimal-invasive augmentation of the activities that affect coordination. This design challenge is approached by the activation of agent modules. Modules are converted to software elements that reason about and modify their host agent. We discuss and formalize this extension within the context of a generic coordination architecture and exemplify the proposed programming model with the decentralized management of (web) service infrastructures

Methodological Guidelines for Engineering Self-organization and Emergence

The ASCENS project deals with the design and development of complex self-adaptive systems, where self-organization is one of the possible means by which to achieve self-adaptation. However, to support the development of self-organising systems, one has to extensively re-situate their engineering from a software architectures and requirements point of view. In particular, in this chapter, we highlight the importance of the decomposition in components to go from the problem to the engineered solution. This leads us to explain and rationalise the following architectural strategy: designing by following the problem organisation. We discuss architectural advantages for development and documentation, and its coherence with existing methodological approaches to self-organisation, and we illustrate the approach with an example on the area of swarm robotics

Socionic Multi-Agent Systems Based on Reflexive Petri Nets and Theories of Social Self-Organisation

This contribution summarises the core results of the transdisciplinary ASKO project, part of the German DFG's programme Sozionik, which combines sociologists' and computer scientists' skills in order to create improved theories and models of artificial societies. Our research group has (a) formulated a social theory, which is able to explain fundamental mechanisms of self-organisation in both natural and artificial societies, (b) modelled this in a mathematical way using a visual formalism, and (c) developed a novel multi-agent system architecture which is conceptually coherent, recursively structured (hence non-eclectic) and based on our social theory. The article presents an outline of both a sociological middle-range theory of social self-organisation in educational institutions, its formal, Petri net based model, including a simulation of one of its main mechanisms, and the multi-agent system architecture SONAR. It describes how the theory was created by a re-analysis of some grand social theories, by grounding it empirically, and finally how the theory was evaluated by modelling its concepts and statements.Multi-Agents Systems, Petri Nets, Self-Organisation, Social Theories

Self-Configuring Socio-Technical Systems: Redesign at Runtime

Modern information systems are becoming more and more socio-technical systems, namely systems composed of human (social) agents and software (technical) systems operating together in a common environment. The structure of such systems has to evolve dynamically in response to the changes of the environment. When new requirements are introduced, when an actor leaves the system or when a new actor comes, the socio-technical structure needs to be redesigned and revised. In this paper, an approach to dynamic reconfiguration of a socio-technical system structure in response to internal or external changes is proposed. The approach is based on planning techniques for generating possible alternative configurations, and local strategies for their evaluation. The reconfiguration mechanism is presented, which makes the socio-technical system self-configuring, and the approach is discussed and analyzed on a simple case study

Agent organisations: from independent agents to virtual organisations and societies of agents

Real world applications using agent-based solutions can include many agents that needs to communicate and interact with each other in order to meet their objectives. In organisations; Agent open multi-agent systems, problems can include not only the organisation of a large number of agents, but can also be heterogeneous and of unpredictable provenance or behavior. An overview of the alternatives for dealing with these problems is presented, highlighting the way they try to solve or mitigate them. This approach allows the development of complex systems in which there are agents that show very different behaviours and that are able to adapt to unforeseen changes in the environment. This makes it possible to simulate socio-technical or natural environments and observe their possible evolution without the ethical considerations involved in experimenting in real environments.This work has been developed as part of “Virtual-Ledgers-Tecnologías DLT/Blockchain y Cripto-IOT sobre organizaciones virtuales de agentes ligeros y su aplicación en la eficiencia en el transporte de última milla”, ID SA267P18, project financed by Junta Castilla y León, Consejería de Educación, and FEDER funds. It has been partially supported by the European Regional Development Fund (ERDF) through the Interreg Spain-Portugal V-A Program (POCTEP) under grant 0631_DIGITEC_3_E (Smart growth through the specialization of the cross-border business fabric in advanced digital technologies and blockchain.)

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