37,216 research outputs found
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 zugÀnglich.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
Organization of Multi-Agent Systems: An Overview
In complex, open, and heterogeneous environments, agents must be able to
reorganize towards the most appropriate organizations to adapt unpredictable
environment changes within Multi-Agent Systems (MAS). Types of reorganization
can be seen from two different levels. The individual agents level
(micro-level) in which an agent changes its behaviors and interactions with
other agents to adapt its local environment. And the organizational level
(macro-level) in which the whole system changes it structure by adding or
removing agents. This chapter is dedicated to overview different aspects of
what is called MAS Organization including its motivations, paradigms, models,
and techniques adopted for statically or dynamically organizing agents in MAS.Comment: 12 page
Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects
While monolithic satellite missions still pose significant advantages in terms of accuracy and
operations, novel distributed architectures are promising improved flexibility, responsiveness,
and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite
networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance
satellites are becoming feasible and advantageous alternatives requiring the adoption
of new operation paradigms that enhance their autonomy. While autonomy is a notion that
is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic
in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations
for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy
is also presented as a necessary feature to bring new distributed Earth observation functions
(which require coordination and collaboration mechanisms) and to allow for novel structural
functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission
Planning and Scheduling (MPS) frameworks are then presented as a key component to implement
autonomous operations in satellite missions. An exhaustive knowledge classification explores the
design aspects of MPS for DSS, and conceptually groups them into: components and organizational
paradigms; problem modeling and representation; optimization techniques and metaheuristics;
execution and runtime characteristics and the notions of tasks, resources, and constraints.
This paper concludes by proposing future strands of work devoted to study the trade-offs of
autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that
consider some of the limitations of small spacecraft technologies.Postprint (author's final draft
Biology of Applied Digital Ecosystems
A primary motivation for our research in Digital Ecosystems is the desire to
exploit the self-organising properties of biological ecosystems. Ecosystems are
thought to be robust, scalable architectures that can automatically solve
complex, dynamic problems. However, the biological processes that contribute to
these properties have not been made explicit in Digital Ecosystems research.
Here, we discuss how biological properties contribute to the self-organising
features of biological ecosystems, including population dynamics, evolution, a
complex dynamic environment, and spatial distributions for generating local
interactions. The potential for exploiting these properties in artificial
systems is then considered. We suggest that several key features of biological
ecosystems have not been fully explored in existing digital ecosystems, and
discuss how mimicking these features may assist in developing robust, scalable
self-organising architectures. An example architecture, the Digital Ecosystem,
is considered in detail. The Digital Ecosystem is then measured experimentally
through simulations, with measures originating from theoretical ecology, to
confirm its likeness to a biological ecosystem. Including the responsiveness to
requests for applications from the user base, as a measure of the 'ecological
succession' (development).Comment: 9 pages, 4 figure, conferenc
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