Meeting the challenges of decentralized embedded applications using multi-agent systems

International audienceToday embedded applications become large scale andstrongly constrained. They require a decentralized embedded intelligencegenerating challenges for embedded systems. A multi-agent approach iswell suited to model and design decentralized embedded applications.It is naturally able to take up some of these challenges. But somespecific points have to be introduced, enforced or improved in multiagentapproaches to reach all features and all requirements. In thisarticle, we present a study of specific activities that can complementmulti-agent paradigm in the ”embedded” context.We use our experiencewith the DIAMOND method to introduce and illustrate these featuresand activities

Mobile Robots

The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations

The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies

This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed

Enhancements of PECOS embedded real-time component model for autonomous mobile robot application

Recently, Component-Based Software Engineering (CBSE) has becoming a popular approach for developing embedded software. In CBSE, a component model is required to specify the standards and conventions imposed on developers of components. Industrial component models such as CORBA, COM and JavaBeans are generally not suitable for embedded real-time (ERT) system, Consequently, a number of component models suitable for CBSE of ERT software, such an PBO, Koala, PECOS and ReFlex are introduced. Assessments of the PECOS component model were conducted to evaluate the suitability of PECOS component model for adoption in CBSE of autonomous mobile-robot (AMR) software. The assessments emphasize on three requirements facilitates predictable real-time performance, support for resource constraint systems, and support platform-independent implementation. Three enhancements were proposed for the PECOS component model. These enhancements were implemented on a real two-wheeled mobile robot, and results show that, the PECOS component model together with the proposed modifications can generate application suitable for resource constrained AMR systems, the new mapping of component behavior to tasks process can be used to guarantee the run-time predictability and performance, and the new implementation framework proposed enable platform independent development of AMR software

Démarche, modèles et outils multi-agents pour l'ingénierie des collectifs cyber-physiques

We call a Collective Cyber-Physical System (CCPS), a system consisting of numerous autonomous execution units achieving tasks of control, communication, data processing or acquisition. These nodes are autonomous in decision making and they can cooperate to overcome gaps of knowledge or individual skills in goal achievement.There are many challenges in the design of these collective systems. This Habilitation thesis discusses various aspects of such a system engineering modeled according to a multi-agent approach.First, a complete CCPS design method is proposed. Its special features are discussed regarding the challenges mentioned above. Agent models and collective models suitable to constrained communications and changing environments are then proposed to facilitate the design of CCPS. Finally, a tool that enables the simulation and the deployment of hw/sw mixed collective systems is presented.These contributions have been used in several academic and industrial projects whose experience feedbacks are discussed.Nous appelons "collectif cyber-physique" un système embarqué en réseau dans lequel les nœuds ont une autonomie de décision et coopèrent spontanément afin de participer à l'accomplissement d'objectifs du système global ou de pallier des manques de connaissances ou de compétences individuelles. Ces objectifs portent notamment sur l'état de leur environnement physique. La conception de ces collectifs présente de nombreux défis. Ce mémoire d'Habilitation propose une discussion des différents aspects de l'ingénierie de ces systèmes que nous modélisons en utilisant le paradigme multi-agent. Tout d'abord, une méthode complète d'analyse et de conception est proposée. Ses différentes particularités sont discutées au regard des différents défis précédemment évoqués. Des modèles d'agent et de collectifs adaptés aux communications contraintes et aux environnements changeants sont alors proposés. Ils permettent de simplifier la conception des collectifs cyber-physiques. Enfin, un outil qui permet la simulation et le déploiement de systèmes collectifs mixtes logiciels/matériels est introduit.Ces contributions ont été éprouvées dans des projets académiques et industriels dont les retours d'expériences sont exploités dans les différentes discussions

Data systems concepts for space systems, phase 1

Deviations from the traditional spacecraft data systems were studied. A data system architecture was developed from the top down