66,876 research outputs found
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG gefƶrderten) Allianz- bzw. Nationallizenz frei zugƤnglich.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
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Communities in Networks
We survey some of the concepts, methods, and applications of community
detection, which has become an increasingly important area of network science.
To help ease newcomers into the field, we provide a guide to available
methodology and open problems, and discuss why scientists from diverse
backgrounds are interested in these problems. As a running theme, we emphasize
the connections of community detection to problems in statistical physics and
computational optimization.Comment: survey/review article on community structure in networks; published
version is available at
http://people.maths.ox.ac.uk/~porterm/papers/comnotices.pd
Modeling and analyzing variability for mobile information systems
Abstract. Advances in size, power, and ubiquity of computing, sensors, and communication technology made possible the development of mobile or nomadic information systems. Variability of location and system behavior is a central issue in mobile information systems, where behavior of software has to change and re-adapt to the different location settings. This paper concerns modeling and analysis of the complementary relation between software and location variability. We use graphical and formal location modeling techniques, show how to elicit and use location model in conjunction with Tropos goal-oriented framework, and introduce automated analysis on the location-based models.
KLAIM: A Kernel Language for Agents Interaction and Mobility
We investigate the issue of designing a kernel programming language for mobile computing and describe KLAIM, a language that supports a programming paradigm where processes, like data, can be moved from one computing environment to another. The language consists of a core Linda with multiple tuple spaces and of a set of operators for building processes. KLAIM naturally supports programming with explicit localities. Localities are first-class data (they can be manipulated like any other data), but the language provides coordination mechanisms to control the interaction protocols among located processes. The formal operational semantics is useful for discussing the design of the language and provides guidelines for implementations. KLAIM is equipped with a type system that statically checks access rights violations of mobile agents. Types are used to describe the intentions (read, write, execute, etc.) of processes in relation to the various localities. The type system is used to determine the operations that processes want to perform at each locality, and to check whether they comply with the declared intentions and whether they have the necessary rights to perform the intended operations at the specific localities. Via a series of examples, we show that many mobile code programming paradigms can be naturally implemented in our kernel language. We also present a prototype implementaton of KLAIM in Java
Heterogeneous attachment strategies optimize the topology of dynamic wireless networks
In optimizing the topology of wireless networks built of a dynamic set of
spatially embedded agents, there are many trade-offs to be dealt with. The
network should preferably be as small (in the sense that the average, or
maximal, pathlength is short) as possible, it should be robust to failures, not
consume too much power, and so on. In this paper, we investigate simple models
of how agents can choose their neighbors in such an environment. In our model
of attachment, we can tune from one situation where agents prefer to attach to
others in closest proximity, to a situation where distance is ignored (and thus
attachments can be made to agents further away). We evaluate this scenario with
several performance measures and find that the optimal topologies, for most of
the quantities, is obtained for strategies resulting in a mix of most local and
a few random connections
Applying tropos to socio-technical system design and runtime configuration
Recent trends in Software Engineering have introduced the importance of reconsidering the traditional idea of software design as a socio-tecnical problem, where human agents are integral part of the system along with hardware and software components. Design and runtime support for Socio-Technical Systems (STSs) requires appropriate modeling techniques and
non-traditional infrastructures. Agent-oriented software methodologies are natural solutions to the development of STSs, both humans and technical components are conceptualized and analyzed as part of the same system. In this paper, we illustrate a number of Tropos features that we believe fundamental to support the development and runtime reconļ¬guration of STSs.
Particularly, we focus on two critical design issues: risk analysis and location variability. We show how they are integrated and used into a planning-based approach to support the designer in evaluating and choosing the best design alternative. Finally, we present a generic framework to develop self-reconļ¬gurable STSs
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