33,246 research outputs found
Methods for the Efficient Deployment and Coordination of Swarm Robotic Systems
Swarming has been observed in many animal species, including fish, birds, insects and mammals. These biological observations have inspired mathematical models of distributed coordination that have been applied to the development of multi-agent robotic systems, such as collections of unmanned autonomous vehicles (UAVs). The advantages of a swarming approach to distributed coordination are clear: each agent acts according to a simple set of rules that can be implemented on resource-constrained devices, and so it becomes feasible to replicate agents in order to build more resilient systems. However, there remain significant challenges in making the approach practicable. This thesis addresses two of the most significant: coordination and scalability. New coordination algorithms are proposed here, all of which manage the problem of scalability by requiring only local proximity sensing between agents, without the need for any other communications infrastructure.
A major source of inefficiency in the deployment of a swarm is âoscillationâ: small movements of agents that arise as a side effect of the application of their rules but which are not strictly necessary in order to satisfy the overall system function. The thesis introduces a new metric for âoscillationâ that allows it to be identified and measured in swarm control algorithms.
A new perimeter detection mechanism is introduced and applied to the coordination of goal-based swarms. The mechanism is used to improve the internal coordination of agents whilst maintaining a directional focus to the swarm; this is then analysed using the new metric.
A mechanism is proposed to allow a swarm to exhibit a âhealingâ behaviour by identifying internal perimeter edges (doughnuts) and then altering the movement of agents, based upon a simple criterion, to remove the holes; this also has the emergent effect of smoothing the outer edges of a swarm and creating a more uniform swarm structure.
Area coverage is an important requirement in many swarm applications. Two new, efficient area-filling techniques are introduced here and exit conditions are identified to determine when a swarm has filled an area. In summary, the thesis makes significant contributions to the analysis and design of efficient control algorithms for the coordination of large scale swarms
Analysis and selection of the simulation environment
This document provides the initial report of the Simulation work package (Work Package 4,WP4) of the CATNETS project. It contains an analisys of the requirements for a simulation tool to be used in CATNETS and an evaluation of a number of grid and general purpose simulators with respect to the selected requirements. A reasoned choice of a suitable simulator is performed based on the evaluation conducted. -- Diese Arbeit analysiert die Anforderungen an eine Simulationsumgebung fĂŒr die Analyse der Katallaxie. Anhand von Kennzahlen wird die Auswahl der Simulationsumgebung bestimmt.Grid Computing
Adaptive microfoundations for emergent macroeconomics
In this paper we present the basics of a research program aimed at providing microfoundations to macroeconomic theory on the basis of computational agentbased adaptive descriptions of individual behavior. To exemplify our proposal, a simple prototype model of decentralized multi-market transactions is offered. We show that a very simple agent-based computational laboratory can challenge more structured dynamic stochastic general equilibrium models in mimicking comovements over the business cycle.Microfoundations of macroeconomics, Agent-based economics, Adaptive behavior
Talking Nets: A Multi-Agent Connectionist Approach to Communication and Trust between Individuals
A multi-agent connectionist model is proposed that consists of a collection of individual recurrent networks that communicate with each other, and as such is a network of networks. The individual recurrent networks simulate the process of information uptake, integration and memorization within individual agents, while the communication of beliefs and opinions between agents is propagated along connections between the individual networks. A crucial aspect in belief updating based on information from other agents is the trust in the information provided. In the model, trust is determined by the consistency with the receiving agentsâ existing beliefs, and results in changes of the connections between individual networks, called trust weights. Thus activation spreading and weight change between individual networks is analogous to standard connectionist processes, although trust weights take a specific function. Specifically, they lead to a selective propagation and thus filtering out of less reliable information, and they implement Griceâs (1975) maxims of quality and quantity in communication. The unique contribution of communicative mechanisms beyond intra-personal processing of individual networks was explored in simulations of key phenomena involving persuasive communication and polarization, lexical acquisition, spreading of stereotypes and rumors, and a lack of sharing unique information in group decisions
Socionics: Sociological Concepts for Social Systems of Artificial (and Human) Agents
Socionics is an interdisciplinary approach with the objective to use sociological knowledge about the structures, mechanisms and processes of social interaction and social communication as a source of inspiration for the development of multi-agent systems, both for the purposes of engineering applications and of social theory construction and social simulation. The approach has been spelled out from 1998 on within the Socionics priority program funded by the German National research foundation. This special issue of the JASSS presents research results from five interdisciplinary projects of the Socionics program. The introduction gives an overview over the basic ideas of the Socionics approach and summarizes the work of these projects.Socionics, Sociology, Multi-Agent Systems, Artificial Social Systems, Hybrid Systems, Social Simulation
Safe, Remote-Access Swarm Robotics Research on the Robotarium
This paper describes the development of the Robotarium -- a remotely
accessible, multi-robot research facility. The impetus behind the Robotarium is
that multi-robot testbeds constitute an integral and essential part of the
multi-agent research cycle, yet they are expensive, complex, and time-consuming
to develop, operate, and maintain. These resource constraints, in turn, limit
access for large groups of researchers and students, which is what the
Robotarium is remedying by providing users with remote access to a
state-of-the-art multi-robot test facility. This paper details the design and
operation of the Robotarium as well as connects these to the particular
considerations one must take when making complex hardware remotely accessible.
In particular, safety must be built in already at the design phase without
overly constraining which coordinated control programs the users can upload and
execute, which calls for minimally invasive safety routines with provable
performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference
Self-organization in Communicating Groups: the emergence of coordination, shared references and collective intelligence\ud
The present paper will sketch the basic ideas of the complexity paradigm, and then apply them to social systems, and in particular to groups of communicating individuals who together need to agree about how to tackle some problem or how to coordinate their actions. I will elaborate these concepts to provide an integrated foundation for a theory of self-organization, to be understood as a non-linear process of spontaneous coordination between actions. Such coordination will be shown to consist of the following components: alignment, division of labor, workflow and aggregation. I will then review some paradigmatic simulations and experiments that illustrate the alignment of references and communicative conventions between communicating agents. Finally, the paper will summarize the preliminary results of a series of experiments that I devised in order to observe the emergence of collective intelligence within a communicating group, and interpret these observations in terms of alignment, division of labor and workflow
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