Automated highway systems : platoons of vehicles viewed as a multiagent system

Tableau d'honneur de la Faculté des études supérieures et postdoctorales, 2005-2006La conduite collaborative est un domaine lié aux systèmes de transport intelligents, qui utilise les communications pour guider de façon autonome des véhicules coopératifs sur une autoroute automatisée. Depuis les dernières années, différentes architectures de véhicules automatisés ont été proposées, mais la plupart d’entre elles n’ont pas, ou presque pas, attaqué le problème de communication inter véhicules. À l’intérieur de ce mémoire, nous nous attaquons au problème de la conduite collaborative en utilisant un peloton de voitures conduites par des agents logiciels plus ou moins autonomes, interagissant dans un même environnement multi-agents: une autoroute automatisée. Pour ce faire, nous proposons une architecture hiérarchique d’agents conducteurs de voitures, se basant sur trois couches (couche de guidance, couche de management et couche de contrôle du trafic). Cette architecture peut être utilisée pour développer un peloton centralisé, où un agent conducteur de tête coordonne les autres avec des règles strictes, et un peloton décentralisé, où le peloton est vu comme une équipe d’agents conducteurs ayant le même niveau d’autonomie et essayant de maintenir le peloton stable.Collaborative driving is a growing domain of Intelligent Transportation Systems (ITS) that makes use of communications to autonomously guide cooperative vehicles on an Automated Highway System (AHS). For the past decade, different architectures of automated vehicles have been proposed, but most of them did not or barely addressed the inter-vehicle communication problem. In this thesis, we address the collaborative driving problem by using a platoon of cars driven by more or less autonomous software agents interacting in a Multiagent System (MAS) environment: the automated highway. To achieve this, we propose a hierarchical driving agent architecture based on three layers (guidance layer, management layer and traffic control layer). This architecture can be used to develop centralized platoons, where the driving agent of the head vehicle coordinates other driving agents by applying strict rules, and decentralized platoons, where the platoon is considered as a team of driving agents with a similar degree of autonomy, trying to maintain a stable platoon

Practical and conceptual issues in the use of agent-based modelling for disaster management

Application of agent-based modelling technology (ABM) to disaster management has to date been limited in nature. Existing research has concentrated on extending the model structures and agent architectures of complex algorithms to test robustness and extensibility of this simulation approach. Less attention has been brought to bear on testing the current state-of-the-art in ABM for modelling real-life systems. This thesis aims to take first steps in remedying this gap. It focuses on identifying the practical and conceptual issues which preclude wider utilisation of ABM in disaster management. It identifies that insufficient attention is put on incorporating real-life information and domain knowledge into model definitions. This research first proposes a methodology by which some of these issues may be overcome, and consequently tests and evaluates it through implementation of InSiM (Incident Simulation Model), which depicts reaction of pedestrians to a CBRN (chemical, biological, radiological or nuclear) explosion in a city centre. A number of steps are conducted to obtain real-life information related to human response to CBRN incidents. This information is then used for design and parameterisation of InSiM which is implemented in three configurations. In order to identify the effects use of real-life data have on the simulation results each configuration incorporates the information at different level of complexity. The effects are assessed by comparison of the generated dispersion patterns of agents along the city centre. However, use of conventional statistical goodness-of-fit tests for assessing the degree of the difference was challenged by inhomogeneous nature of the data. Hence, alternative approaches are also adopted so that results can be qualitatively assessed. Nevertheless, the evaluation reveals significant differences at global and local level. This research highlights that incorporation of real-life information and domain knowledge into ABM is not without problems. Each time a problem was addressed, additional issues began to emerge. Most of these challenges were related to generalisation of the complex real-life systems that the model represents. Therefore, further investigations are needed at every methodological step before ABM can fully realise its potential to support disaster management

AFRANCI : multi-layer architecture for cognitive agents

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 201

Social Emotions in Multiagent Systems

Tesis por compendioA lo largo de los últimos años, los sistemas multi-agente (SMA) han demostrado ser un paradigma potente y versátil, con un gran potencial a la hora de resolver problemas complejos en entornos dinámicos y distribuidos. Este potencial no se debe principalmente a sus características individuales (como son su autonomía, su capacidad de percepción, reacción y de razonamiento), sino que también a la capacidad de comunicación y cooperación a la hora de conseguir un objetivo. De hecho, su capacidad social es la que más llama la atención, es este comportamiento social el que dota de potencial a los sistemas multi-agente. Estas características han hecho de los SMA, la herramienta de inteligencia artificial (IA) más utilizada para el diseño de entornos virtuales inteligentes (IVE), los cuales son herramientas de simulación compleja basadas en agentes. Sin embargo, los IVE incorporan restricciones físicas (como gravedad, fuerzas, rozamientos, etc.), así como una representación 3D de lo que se quiere simular. Así mismo, estas herramientas no son sólo utilizadas para la realización de simulaciones. Con la aparición de nuevas aplicaciones como \emph{Internet of Things (IoT)}, \emph{Ambient Intelligence (AmI)}, robot asistentes, entre otras, las cuales están en contacto directo con el ser humano. Este contacto plantea nuevos retos a la hora de interactuar con estas aplicaciones. Una nueva forma de interacción que ha despertado un especial interés, es el que se relaciona con la detección y/o simulación de estados emocionales. Esto ha permitido que estas aplicaciones no sólo puedan detectar nuestros estados emocionales, sino que puedan simular y expresar sus propias emociones mejorando así la experiencia del usuario con dichas aplicaciones. Con el fin de mejorar la experiencia humano-máquina, esta tesis plantea como objetivo principal la creación de modelos emocionales sociales, los cuales podrán ser utilizados en aplicaciones MAS permitiendo a los agentes interpretar y/o emular diferentes estados emocionales y, además, emular fenómenos de contagio emocional. Estos modelos permitirán realizar simulaciones complejas basadas en emociones y aplicaciones más realistas en dominios como IoT, AIm, SH.Over the past few years, multi-agent systems (SMA) have proven to be a powerful and versatile paradigm, with great potential for solving complex problems in dynamic and distributed environments. This potential is not primarily due to their individual characteristics (such as their autonomy, their capacity for perception, reaction and reasoning), but also the ability to communicate and cooperate in achieving a goal. In fact, its social capacity is the one that draws the most attention, it is this social behavior that gives potential to multi-agent systems. These characteristics have made the SMA, the artificial intelligence (AI) tool most used for the design of intelligent virtual environments (IVE), which are complex agent-based simulation tools. However, IVE incorporates physical constraints (such as gravity, forces, friction, etc.), as well as a 3D representation of what you want to simulate. Also, these tools are not only used for simulations. With the emergence of new applications such as \emph {Internet of Things (IoT)}, \emph {Ambient Intelligence (AmI)}, robot assistants, among others, which are in direct contact with humans. This contact poses new challenges when it comes to interacting with these applications. A new form of interaction that has aroused a special interest is that which is related to the detection and / or simulation of emotional states. This has allowed these applications not only to detect our emotional states, but also to simulate and express their own emotions, thus improving the user experience with those applications. In order to improve the human-machine experience, this thesis aims to create social emotional models, which can be used in MAS applications, allowing agents to interpret and / or emulate different emotional states, and emulate phenomena of emotional contagion. These models will allow complex simulations based on emotions and more realistic applications in domains like IoT, AIm, SH.Al llarg dels últims anys, els sistemes multi-agent (SMA) han demostrat ser un paradigma potent i versàtil, amb un gran potencial a l'hora de resoldre problemes complexos en entorns dinàmics i distribuïts. Aquest potencial no es deu principalment a les seues característiques individuals (com són la seua autonomia, la seua capacitat de percepció, reacció i de raonament), sinó que també a la capacitat de comunicació i cooperació a l'hora d'aconseguir un objectiu. De fet, la seua capacitat social és la que més crida l'atenció, és aquest comportament social el que dota de potencial als sistemes multi-agent. Aquestes característiques han fet dels SMA, l'eina d'intel·ligència artificial (IA) més utilitzada per al disseny d'entorns virtuals intel·ligents (IVE), els quals són eines de simulació complexa basades en agents. No obstant això, els IVE incorporen restriccions físiques (com gravetat, forces, fregaments, etc.), així com una representació 3D del que es vol simular. Així mateix, aquestes eines no són només utilitzades per a la realització de simulacions. Amb l'aparició de noves aplicacions com \emph{Internet of Things (IOT)}, \emph{Ambient Intelligence (AmI)}, robot assistents, entre altres, les quals estan en contacte directe amb l'ésser humà. Aquest contacte planteja nous reptes a l'hora d'interactuar amb aquestes aplicacions. Una nova forma d'interacció que ha despertat un especial interès, és el que es relaciona amb la detecció i/o simulació d'estats emocionals. Això ha permès que aquestes aplicacions no només puguen detectar els nostres estats emocionals, sinó que puguen simular i expressar les seues pròpies emocions millorant així l'experiència de l'usuari amb aquestes aplicacions. Per tal de millorar l'experiència humà-màquina, aquesta tesi planteja com a objectiu principal la creació de models emocionals socials, els quals podran ser utilitzats en aplicacions MAS permetent als agents interpretar i/o emular diferents estats emocionals i, a més, emular fenòmens de contagi emocional. Aquests models permetran realitzar simulacions complexes basades en emocions i aplicacions més realistes en dominis com IoT, AIM, SH.Rincón Arango, JA. (2018). Social Emotions in Multiagent Systems [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/98090TESISCompendi

Multi-platform coordination and resource management in command and control

Depuis plusieurs années, nous constatons l'augmentation de l'utilisation des techniques d'agents et multiagent pour assister l'humain dans ses tâches. Ce travail de maîtrise se situe dans la même voie. Précisément, nous proposons d'utiliser les techniques multiagent de planification et de coordination pour la gestion de ressources dans les systèmes de commande et contrôle (C2) temps réel. Le problème particulier que nous avons étudié est la conception d'un système d'aide à la décision pour les opérations anti-aérienne sur les frégates canadiennes. Dans le cas où plusieurs frégates doivent se défendre contre des menaces, la coordination est un problème d'importance capitale. L'utilisation de mécanismes de coordination efficaces permet d'éviter les actions conflictuelles et la redondance dans les engagements. Dans ce mémoire, nous présentons quatre mécanismes de coordination basés sur le partage de tâche. Trois sont basés sur les communications : la coordination centrale, le Contract Net, la coordination similaire à celle proposée par Brown; tandis que la défense de zone est basée sur les lois sociales. Nous exposons enfin les résultats auxquels nous sommes arrivés en simulant ces différents mécanismes.The use of agent and multiagent techniques to assist humans in their daily routines has been increasing for many years, notably in Command and Control (C2) systems. This thesis is is situated in this domain. Precisely, we propose to use multiagent planning and coordination techniques for resource management in real-time \acs{C2} systems. The particular problem we studied is the design of a decision-support for anti-air warfare on Canadian frigates. In the case of several frigates defending against incoming threats, multiagent coordination is a complex problem of capital importance. Better coordination mechanisms are important to avoid redundancy in engagements and inefficient defence caused by conflicting actions. In this thesis, we present four different coordination mechanisms based on task sharing. Three of these mechanisms are based on communications: central coordination, Contract Net coordination and Brown coordination, while the zone defence coordination is based on social laws. Finally, we expose the results obtained while simulating these various mechanisms

RoboCup rescue : development of inteligent cooperative agents

Mestrado em Engenharia de Computadores e TelemáticaO trabalho desenvolvido nesta dissertação tem como tema o desenvolvimento de um agente inteligente com coordenação e comunicação no ambiente RoboCup Rescue. No RoboCup Rescue existem seis tipos de agentes, no entanto nesta tese só dois agentes foram desenvolvidos, especificamente o tipo de agentes Ambulâncias e Centros de Ambulâncias. O tipo de agente Ambulância é o elemento responsável pelo salvamento de civis na cidade virtual que constitui o ambiente RoboCup Rescue. Para cumprir essa tarefa da forma mais eficiente possível conta com coordenação e comunicação com outros agentes do mesmo tipo, e com os Centros de Ambulâncias. O comportamento da ambulância é modelado tanto para situações em que o Centro de Ambulâncias está presente durante a simulação, podendo, portanto, delegar funções para o Centro; como em situações em que o Centro não está presente, e, por isso, as ambulâncias estão encarregues de todo o processamento dos dados e de todas as tomadas de decisões. As actividades desenvolvidas pelas ambulâncias podem ser resumidas a duas: pesquisa e salvamento. Para a primeira as soluções passam muito pelo uso de algoritmos estudados em Teoria de Grafos, já que a cidade virtual é, na sua essência, um grafo, e são necessárias soluções para problemas como visitar o mapa completamente e determinar o caminho mais rápido entre dois nós. Na parte de salvamento a coordenação tem um grande papel a desempenhar.É necessário determinar que ambulâncias devem ir socorrer que civil, e quantas ambulâncias devem ajudar; ou que ambulâncias que devem continuar com a pesquisa do mapa. Ou seja, a coordenação é vital para uma utilização eficiente dos recursos disponíveis, e, consequentemente, uma boa pontuação. ABSTRACT: The work developed in this thesis has as background the development of an intelligent agent with coordination and communication in the environment of the RoboCup Rescue. RoboCup Rescue has six types of agents, however only two were developed in this thesis, specifically Ambulances and Ambulance Centers. The type of agent Ambulance is the element responsable for the rescuing of civilians in the virtual city which comprises the environment of RoboCup Rescue. To fulfill this task in the most efficient way possible it relies on coordination and communication with other agents of the same type, as well as Ambulance Centers. The behavior of an ambulance is modeled for situations when an Ambulance Center is available during the simulation, thus allowing the ambulances the possibility of dividing some of the processing and decision making; or, for situations when a center is not available and it is up to the ambulances to do make all of the decisions, and do all of the processing. The activities performed by the ambulances can be summarized in two: search, and rescue. For the first, many of the solutions may be provided by algorithms studied in Graph Theory, since the virtual city is, in its essence, a graph, and its necessary solutions to problems such as visit the city entirely, and determine the shortest path between two locations, or nodes. In the rescuing part, the coordination has a very big part to play. It is necessary to choose which ambulances should rescue a civilian, and how many should help doing it; or, which ambulances should continue searching the city for more civilians. In other words, coordination is vital for an efficient allocation of available resources, and, ultimately, a good score

A Collaboration Method Of Mas Based On Information Fusion And Its Application In Robocuprescue Simulation System

Collaboration is one of the key issues in multi-agent system. This paper presents a multi-agent collaboration method based on the concept of information fusion in which the tasks can be divided quickly without task overlapping and resource conflicting. In this model we classify the agents into two categories: sensor agents and decision agents. Sensor agents with the abilities of sensing and action convert the raw sensor information into a definite protocol and transmit them to decision agents. Decision agents adopt a method based on dynamic Bayesian networks to infer the situation assessment which is reliable for decision making from large quantities of sensor information, and then retrieve a best action set which will be sent to sensor agents to execute. This model has applied effectively in RoboCupRescue simulation competition. © 2007 IEEE