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

Cognitively-inspired Agent-based Service Composition for Mobile & Pervasive Computing

Automatic service composition in mobile and pervasive computing faces many challenges due to the complex and highly dynamic nature of the environment. Common approaches consider service composition as a decision problem whose solution is usually addressed from optimization perspectives which are not feasible in practice due to the intractability of the problem, limited computational resources of smart devices, service host's mobility, and time constraints to tailor composition plans. Thus, our main contribution is the development of a cognitively-inspired agent-based service composition model focused on bounded rationality rather than optimality, which allows the system to compensate for limited resources by selectively filtering out continuous streams of data. Our approach exhibits features such as distributedness, modularity, emergent global functionality, and robustness, which endow it with capabilities to perform decentralized service composition by orchestrating manifold service providers and conflicting goals from multiple users. The evaluation of our approach shows promising results when compared against state-of-the-art service composition models.Comment: This paper will appear on AIMS'19 (International Conference on Artificial Intelligence and Mobile Services) on June 2

The simplicity project: easing the burden of using complex and heterogeneous ICT devices and services

As of today, to exploit the variety of different "services", users need to configure each of their devices by using different procedures and need to explicitly select among heterogeneous access technologies and protocols. In addition to that, users are authenticated and charged by different means. The lack of implicit human computer interaction, context-awareness and standardisation places an enormous burden of complexity on the shoulders of the final users. The IST-Simplicity project aims at leveraging such problems by: i) automatically creating and customizing a user communication space; ii) adapting services to user terminal characteristics and to users preferences; iii) orchestrating network capabilities. The aim of this paper is to present the technical framework of the IST-Simplicity project. This paper is a thorough analysis and qualitative evaluation of the different technologies, standards and works presented in the literature related to the Simplicity system to be developed

A Software Suite for the Control and the Monitoring of Adaptive Robotic Ecologies

Adaptive robotic ecologies are networks of heterogeneous robotic devices (sensors, actuators, automated appliances) pervasively embedded in everyday environments, where they learn to cooperate towards the achievement of complex tasks. While their flexibility makes them an increasingly popular way to improve a system’s reliability, scalability, robustness and autonomy, their effective realisation demands integrated control and software solutions for the specification, integration and management of their highly heterogeneous and computational constrained components. In this extended abstract we briefly illustrate the characteristic requirements dictated by robotic ecologies, discuss our experience in developing adaptive robotic ecologies, and provide an overview of the specific solutions developed as part of the EU FP7 RUBICON Project

Decentralized Coordination in Self-Organizing Systems based on Peer-to-Peer Coordination Spaces

Coordination is an important aspect to realize Self-organizing Systemsusually implemented as part of the functional properties of the system. This paper promotes a separation of concerns via a declarative approach to realize decentralized coordination in Self-organizing Multi-Agent Systems (MAS). In previous work the concept of Coordination Spaces was developed which provides explicit support for the task of coordination in MAS. Coordination Spaces are part of the agent environment and handle a declarative description of the coordination process. Thereby, this approach allows developers rather focusing on what to coordinate than on how to  coordinate. Also by releasing the developer from programming coordination manually, the approach offers benefits like reusability and interoperability of coordination processes. This paper extends the approach by a distribution concept for coordination spaces. By using different techniques like remote service calls, group communicationand publish/subscribe models the distribution of information among multiple platforms in a peer-to-peer like approach is achieved

Using mobility and exception handling to achieve mobile agents that survive server crash failures

Mobile agent technology, when designed and used effectively, can minimize bandwidth consumption and autonomously provide a snapshot of the current context of a distributed system. Protecting mobile agents from server crashes is a challenging issue, since developers normally have no control over remote servers. Server crash failures can leave replicas, instable storage, unavailable for an unknown time period. Furthermore, few systems have considered the need for using a fault tolerant protocol among a group of collaborating mobile agents. This thesis uses exception handling to protect mobile agents from server crash failures. An exception model is proposed for mobile agents and two exception handler designs are investigated. The first exists at the server that created the mobile agent and uses a timeout mechanism. The second, the mobile shadow scheme, migrates with the mobile agent and operates at the previous server visited by the mobile agent. A case study application has been developed to compare the performance of the two exception handler designs. Performance results demonstrate that although the second design is slower it offers the smaller trip time when handling a server crash. Furthermore, no modification of the server environment is necessary. This thesis shows that the mobile shadow exception handling scheme reduces complexity for a group of mobile agents to survive server crashes. The scheme deploys a replica that monitors the server occupied by the master, at each stage of the itinerary. The replica exists at the previous server visited in the itinerary. Consequently, each group member is a single fault tolerant entity with respect to server crash failures. Other schemes introduce greater complexity and performance overheads since, for each stage of the itinerary, a group of replicas is sent to servers that offer an equivalent service. In addition, future research is established for fault tolerance in groups of collaborating mobile agents