Bounded Decentralised Coordination over Multiple Objectives

We propose the bounded multi-objective max-sum algorithm (B-MOMS), the first decentralised coordination algorithm for multi-objective optimisation problems. B-MOMS extends the max-sum message-passing algorithm for decentralised coordination to compute bounded approximate solutions to multi-objective decentralised constraint optimisation problems (MO-DCOPs). Specifically, we prove the optimality of B-MOMS in acyclic constraint graphs, and derive problem dependent bounds on its approximation ratio when these graphs contain cycles. Furthermore, we empirically evaluate its performance on a multi-objective extension of the canonical graph colouring problem. In so doing, we demonstrate that, for the settings we consider, the approximation ratio never exceeds 2, and is typically less than 1.5 for less-constrained graphs. Moreover, the runtime required by B-MOMS on the problem instances we considered never exceeds 30 minutes, even for maximally constrained graphs with $100$ agents. Thus, B-MOMS brings the problem of multi-objective optimisation well within the boundaries of the limited capabilities of embedded agents

Coordinated constraint relaxation using a distributed agent protocol

The interactions among agents in a multi-agent system for coordinating a distributed, problem solving task can be complex, as the distinct sub-problems of the individual agents are interdependent. A distributed protocol provides the necessary framework for specifying these interactions. In a model of interactions where the agents' social norms are expressed as the message passing behaviours associated with roles, the dependencies among agents can be specified as constraints. The constraints are associated with roles to be adopted by agents as dictated by the protocol. These constraints are commonly handled using a conventional constraint solving system that only allows two satisfactory states to be achieved - completely satisfied or failed. Agent interactions then become brittle as the occurrence of an over-constrained state can cause the interaction between agents to break prematurely, even though the interacting agents could, in principle, reach an agreement. Assuming that the agents are capable of relaxing their individual constraints to reach a common goal, the main issue addressed by this thesis is how the agents could communicate and coordinate the constraint relaxation process. The interaction mechanism for this is obtained by reinterpreting a technique borrowed from the constraint satisfaction field, deployed and computed at the protocol level.The foundations of this work are the Lightweight Coordination Calculus (LCC) and the distributed partial Constraint Satisfaction Problem (CSP). LCC is a distributed interaction protocol language, based on process calculus, for specifying and executing agents' social norms in a multi-agent system. Distributed partial CSP is an extension of partial CSP, a means for managing the relaxation of distributed, over-constrained, CSPs. The research presented in this thesis concerns how distributed partial CSP technique, used to address over-constrained problems in the constraint satisfaction field, could be adopted and integrated within the LCC to obtain a more flexible means for constraint handling during agent interactions. The approach is evaluated against a set of overconstrained Multi-agent Agreement Problems (MAPs) with different levels of hardness. Not only does this thesis explore a flexible and novel approach for handling constraints during the interactions of heterogeneous and autonomous agents participating in a problem solving task, but it is also grounded in a practical implementation

Cost Adaptation for Robust Decentralized Swarm Behaviour

Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agents. This formulation allows a wide range of tasks to be encoded and can account for network delays, heterogeneous capabilities, and increasingly large swarms through the adaptation mechanism. We leverage the Unity3D game engine to build a simulator capable of introducing artificial networking failures and delays in the swarm. Using the simulator we validate our method on an example coordinated exploration task. We demonstrate that cost adaptation allows for more efficient and safer task completion under varying environment conditions and increasingly large swarm sizes. We release our simulator and code to the community for future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201