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 zugänglich.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

A methodology for exploring emergence in learning communities

Learning communities are becoming increasingly complex in nature, often being used to drive multiple agendas. For example, there is an increasing move to develop learning cities which seek to draw on synergies to both improve citizen learning and skills as well as economic regeneration. Such synergy-driven learning communities, of which the learning cities are but one example, seek to utilise interaction to develop 'emergent products', be it at the individual level or the system-wide level, which could not be produced in isolation. Successfully enabling emergence is critical to their success. Designing for specific types of emergence is however difficult given the intrinsic unpredictability of complex systems. Insight into the intrinsic characteristics of these synergy-driven learning communities and how their interaction leads to emergence over time is required. This paper reports on the methodology developed to explore these highly complex learning communities. The approach adopted was to combine exploratory case studies which established the intrinsic characteristics of the learning communities with an exploration of emergence guided by a meta-level conceptual framework of emergence. This was augmented by secondary data to aid triangulation and provide rigour. As well as discussing the rationale for the adopted approach, implementation issues and the rich information set obtained are discussed using specific case examples. Findings from the investigations led to recommendations regarding future development of appropriate methods for seeding and managing such complex learning communities. The meta level framework means the approach may be readily adapted to other complex social system

Overview on agent-based social modelling and the use of formal languages

Transdisciplinary Models and Applications investigates a variety of programming languages used in validating and verifying models in order to assist in their eventual implementation. This book will explore different methods of evaluating and formalizing simulation models, enabling computer and industrial engineers, mathematicians, and students working with computer simulations to thoroughly understand the progression from simulation to product, improving the overall effectiveness of modeling systems.Postprint (author's final draft

Developing a conceptual model for exploring emergence

Emergence is a fundamental property of complex systems and can be thought of as a new property or behaviour which appears due to non-linear interactions within the system; emergence may be considered to be the 'product' or by-product of the system. For example, within social systems, social capital, the World Wide Web, law and indeed civilization in general may be considered emergent, although all within different time scales. As our world becomes increasingly more interconnected, understanding how emergence arises and how to design for and manage specific types of emergence is ever more important. To date, the concept of emergence has been mainly used as an explanatory framework (as used by Johnson 2001), to inform the logic of action research (Mitleton-Kelly 2004) or as a means of exploring the range of emergent potential of simulation of real complex systems (Axelrod 2003). If we are to improve our ability to manage and control emergence, we need first to directly study the phenomenon of emergence, its causes and consequences across real complex systems

Research and Education in Computational Science and Engineering

Over the past two decades the field of computational science and engineering (CSE) has penetrated both basic and applied research in academia, industry, and laboratories to advance discovery, optimize systems, support decision-makers, and educate the scientific and engineering workforce. Informed by centuries of theory and experiment, CSE performs computational experiments to answer questions that neither theory nor experiment alone is equipped to answer. CSE provides scientists and engineers of all persuasions with algorithmic inventions and software systems that transcend disciplines and scales. Carried on a wave of digital technology, CSE brings the power of parallelism to bear on troves of data. Mathematics-based advanced computing has become a prevalent means of discovery and innovation in essentially all areas of science, engineering, technology, and society; and the CSE community is at the core of this transformation. However, a combination of disruptive developments---including the architectural complexity of extreme-scale computing, the data revolution that engulfs the planet, and the specialization required to follow the applications to new frontiers---is redefining the scope and reach of the CSE endeavor. This report describes the rapid expansion of CSE and the challenges to sustaining its bold advances. The report also presents strategies and directions for CSE research and education for the next decade.Comment: Major revision, to appear in SIAM Revie

Efficacy of landfill tax and subsidy policies for the emergence of industrial symbiosis networks: An agent-based simulation study

Despite the theoretical value of industrial symbiosis (IS), this approach appears to be underdeveloped in terms of practical applications. Different attempts to stimulate IS in practice are noticed, one of them consisting in the application of adequate policy measures. This paper explores the efficacy of two specific policies (landfill tax and economic subsidy for IS exchanges) in supporting the emergence of self-organized industrial symbiosis networks (ISNs). We frame the ISNs as complex adaptive systems and we design an agent-based model to simulate their emergence. We use a real case study and, by means of the simulation model, we assess how the two policy measures are able to enhance the formation of spontaneous IS relationships, thereby forcing the emergence of the ISN. Results show that both policy measures have a positive effect in all scenarios considered, but the extent is strictly dependent on the environmental conditions in which IS relationships occur. The economic implications for the government are finally discussed

Team Learning, Development, and Adaptation

[Excerpt] Our purpose is to explore conceptually these themes centered on team learning, development, and adaptation. We note at the onset that this chapter is not a comprehensive review of the literature. Indeed, solid conceptual and empirical work on these themes are sparse relative to the vast amount of work on team effectiveness more generally, and therefore a thematic set of topics that are ripe for conceptual development and integration. We draw on an ongoing stream of theory development and research in these areas to integrate and sculpt a distinct perspective on team learning, development, and adaptation