Robustness Analysis of Holonic Multi-Agent Systems: Application to Traffic Signals Control

Multi-Agent Systems (MASs) provide a powerful tool to model distributed systems. Large-scale systems contain many autonomous agents, and therefore, the agents should be able to work in a group and collaborate toward common objectives. Holonic Multi-Agent Systems (HMASs) present a suitable organization, especially in large-scale systems. The idea behind HMASs is a division of a system into smaller sub-systems in a recurrent way. A holon is defined as a self-similar structure that comprises holons as sub-structures. Therefore, a holarchy is a hierarchy of holons that act as autonomous wholes in super-ordination to their parts and as dependent parts in sub-ordination to controls on higher levels. There are two main attributes for a holarchy, the first attribute ensures that holons are in stable forms, which are robust against disturbances. The second one confirms that the holons are in intermediate forms, which provide the proper functionality for the whole. In this paper, we study the robustness of a holarchy for traffic signals control. Robustness is an essential feature for providing reliable solutions, especially in real world applications. We show that holonic MAS can be effectively used for traffic signals control as a robust modeling method

Engineering Emergence: A Survey on Control in the World of Complex Networks

Complex networks make an enticing research topic that has been increasingly attracting researchers from control systems and various other domains over the last two decades. The aim of this paper was to survey the interest in control related to complex networks research over time since 2000 and to identify recent trends that may generate new research directions. The survey was performed for Web of Science, Scopus, and IEEEXplore publications related to complex networks. Based on our findings, we raised several questions and highlighted ongoing interests in the control of complex networks.publishedVersio

Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

Statistical Traffic State Analysis in Large-scale Transportation Networks Using Locality-Preserving Non-negative Matrix Factorization

Statistical traffic data analysis is a hot topic in traffic management and control. In this field, current research progresses focus on analyzing traffic flows of individual links or local regions in a transportation network. Less attention are paid to the global view of traffic states over the entire network, which is important for modeling large-scale traffic scenes. Our aim is precisely to propose a new methodology for extracting spatio-temporal traffic patterns, ultimately for modeling large-scale traffic dynamics, and long-term traffic forecasting. We attack this issue by utilizing Locality-Preserving Non-negative Matrix Factorization (LPNMF) to derive low-dimensional representation of network-level traffic states. Clustering is performed on the compact LPNMF projections to unveil typical spatial patterns and temporal dynamics of network-level traffic states. We have tested the proposed method on simulated traffic data generated for a large-scale road network, and reported experimental results validate the ability of our approach for extracting meaningful large-scale space-time traffic patterns. Furthermore, the derived clustering results provide an intuitive understanding of spatial-temporal characteristics of traffic flows in the large-scale network, and a basis for potential long-term forecasting.Comment: IET Intelligent Transport Systems (2013

Traffic Signal Consensus Control

We introduce a model for traffic signal management based on network consensus control principles. The underlying principle in a consensus approach is that traffic signal cycles are adjusted in a distributed way so as to achieve desirable ratios of queue lengths throughout the street network. This approach tends to reduce traffic congestion due to queue saturation at any particular city block and it appears less susceptible to congestion due to unexpected traffic loads on the street grid. We developed simulation tools based on the MATLAB computing environment to analyze the use of the mathematical consensus approach to manage the signal control on an urban street network

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future