29 research outputs found
Fault-tolerant Cooperative Tasking for Multi-agent Systems
A natural way for cooperative tasking in multi-agent systems is through a
top-down design by decomposing a global task into sub-tasks for each individual
agent such that the accomplishments of these sub-tasks will guarantee the
achievement of the global task. In our previous works [1], [2] we presented
necessary and sufficient conditions on the decomposability of a global task
automaton between cooperative agents. As a follow-up work, this paper deals
with the robustness issues of the proposed top-down design approach with
respect to event failures in the multi-agent systems. The main concern under
event failure is whether a previously decomposable task can still be achieved
collectively by the agents, and if not, we would like to investigate that under
what conditions the global task could be robustly accomplished. This is
actually the fault-tolerance issue of the top-down design, and the results
provide designers with hints on which events are fragile with respect to
failures, and whether redundancies are needed. The main objective of this paper
is to identify necessary and sufficient conditions on failed events under which
a decomposable global task can still be achieved successfully. For such a
purpose, a notion called passivity is introduced to characterize the type of
event failures. The passivity is found to reflect the redundancy of
communication links over shared events, based on which necessary and sufficient
conditions for the reliability of cooperative tasking under event failures are
derived, followed by illustrative examples and remarks for the derived
conditions.Comment: Preprint, Submitted for publicatio