Decentralised Coordination in RoboCup Rescue

Emergency responders are faced with a number of significant challenges when managing major disasters. First, the number of rescue tasks posed is usually larger than the number of responders (or agents) and the resources available to them. Second, each task is likely to require a different level of effort in order to be completed by its deadline. Third, new tasks may continually appear or disappear from the environment, thus requiring the responders to quickly recompute their allocation of resources. Fourth, forming teams or coalitions of multiple agents from different agencies is vital since no single agency will have all the resources needed to save victims, unblock roads, and extinguish the ?res which might erupt in the disaster space. Given this, coalitions have to be efficiently selected and scheduled to work across the disaster space so as to maximise the number of lives and the portion of the infrastructure saved. In particular, it is important that the selection of such coalitions should be performed in a decentralised fashion in order to avoid a single point of failure in the system. Moreover, it is critical that responders communicate only locally given they are likely to have limited battery power or minimal access to long range communication devices. Against this background, we provide a novel decentralised solution to the coalition formation process that pervades disaster management. More specifically, we model the emergency management scenario defined in the RoboCup Rescue disaster simulation platform as a Coalition Formation with Spatial and Temporal constraints (CFST) problem where agents form coalitions in order to complete tasks, each with different demands. In order to design a decentralised algorithm for CFST we formulate it as a Distributed Constraint Optimisation problem and show how to solve it using the state-of-the-art Max-Sum algorithm that provides a completely decentralised message-passing solution. We then provide a novel algorithm (F-Max-Sum) that avoids sending redundant messages and efficiently adapts to changes in the environment. In empirical evaluations, our algorithm is shown to generate better solutions than other decentralised algorithms used for this problem

Distributing Coalitional Value Calculations among Cooperative Agents

The process of forming coalitions of software agents generally requires calculating a value for every possible coalition which indicates how beneficial that coalition would be if it was formed. Now, since the number of possible coalitions increases exponentially with the number of agents involved, having one agent calculate all the values is inefficient. Given this, we present a novel algorithm for distributing this calculation among agents in cooperative environments. Specifically, by using our algorithm, each agent is assigned some part of the calculation such that the agents ’ shares are exhaustive and disjoint. Moreover, the algorithm is decentralized, requires no communication between the agents, and has minimal memory requirements. To evaluate the effectiveness of our algorithm we compare it with the only other algorithm available in the literature (due to Shehory and Kraus). This shows that for the case of 25 agents, the distribution process of our algorithm took 0.00037 % of the time, the values were calculated using 0.000006 % of the memory, the calculation redundancy was reduced from 477826101 to 0, and the total number of bytes sent between the agents dropped from 674047872 to 0 (note that for larger numbers of agents, these improvements become exponentially better)

A Game-Theoretic Approach to Strategic Resource Allocation Mechanisms in Edge and Fog Computing

With the rapid growth of Internet of Things (IoT), cloud-centric application management raises questions related to quality of service for real-time applications. Fog and edge computing (FEC) provide a complement to the cloud by filling the gap between cloud and IoT. Resource management on multiple resources from distributed and administrative FEC nodes is a key challenge to ensure the quality of end-user’s experience. To improve resource utilisation and system performance, researchers have been proposed many fair allocation mechanisms for resource management. Dominant Resource Fairness (DRF), a resource allocation policy for multiple resource types, meets most of the required fair allocation characteristics. However, DRF is suitable for centralised resource allocation without considering the effects (or feedbacks) of large-scale distributed environments like multi-controller software defined networking (SDN). Nash bargaining from micro-economic theory or competitive equilibrium equal incomes (CEEI) are well suited to solving dynamic optimisation problems proposing to ‘proportionately’ share resources among distributed participants. Although CEEI’s decentralised policy guarantees load balancing for performance isolation, they are not faultproof for computation offloading. The thesis aims to propose a hybrid and fair allocation mechanism for rejuvenation of decentralised SDN controller deployment. We apply multi-agent reinforcement learning (MARL) with robustness against adversarial controllers to enable efficient priority scheduling for FEC. Motivated by software cybernetics and homeostasis, weighted DRF is generalised by applying the principles of feedback (positive or/and negative network effects) in reverse game theory (GT) to design hybrid scheduling schemes for joint multi-resource and multitask offloading/forwarding in FEC environments. In the first piece of study, monotonic scheduling for joint offloading at the federated edge is addressed by proposing truthful mechanism (algorithmic) to neutralise harmful negative and positive distributive bargain externalities respectively. The IP-DRF scheme is a MARL approach applying partition form game (PFG) to guarantee second-best Pareto optimality viii | P a g e (SBPO) in allocation of multi-resources from deterministic policy in both population and resource non-monotonicity settings. In the second study, we propose DFog-DRF scheme to address truthful fog scheduling with bottleneck fairness in fault-probable wireless hierarchical networks by applying constrained coalition formation (CCF) games to implement MARL. The multi-objective optimisation problem for fog throughput maximisation is solved via a constraint dimensionality reduction methodology using fairness constraints for efficient gateway and low-level controller’s placement. For evaluation, we develop an agent-based framework to implement fair allocation policies in distributed data centre environments. In empirical results, the deterministic policy of IP-DRF scheme provides SBPO and reduces the average execution and turnaround time by 19% and 11.52% as compared to the Nash bargaining or CEEI deterministic policy for 57,445 cloudlets in population non-monotonic settings. The processing cost of tasks shows significant improvement (6.89% and 9.03% for fixed and variable pricing) for the resource non-monotonic setting - using 38,000 cloudlets. The DFog-DRF scheme when benchmarked against asset fair (MIP) policy shows superior performance (less than 1% in time complexity) for up to 30 FEC nodes. Furthermore, empirical results using 210 mobiles and 420 applications prove the efficacy of our hybrid scheduling scheme for hierarchical clustering considering latency and network usage for throughput maximisation.Abubakar Tafawa Balewa University, Bauchi (Tetfund, Nigeria