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

EMERGING THE EMERGENCE SOCIOLOGY: The Philosophical Framework of Agent-Based Social Studies

The structuration theory originally provided by Anthony Giddens and the advance improvement of the theory has been trying to solve the dilemma came up in the epistemological aspects of the social sciences and humanity. Social scientists apparently have to choose whether they are too sociological or too psychological. Nonetheless, in the works of the classical sociologist, Emile Durkheim, this thing has been stated long time ago. The usage of some models to construct the bottom-up theories has followed the vast of computational technology. This model is well known as the agent based modeling. This paper is giving a philosophical perspective of the agent-based social sciences, as the sociology to cope the emergent factors coming up in the sociological analysis. The framework is made by using the artificial neural network model to show how the emergent phenomena came from the complex system. Understanding the society has self-organizing (autopoietic) properties, the Kohonen’s self-organizing map is used in the paper. By the simulation examples, it can be seen obviously that the emergent phenomena in social system are seen by the sociologist apart from the qualitative framework on the atomistic sociology. In the end of the paper, it is clear that the emergence sociology is needed for sharpening the sociological analysis in the emergence sociology

Quantifying the Evolutionary Self Structuring of Embodied Cognitive Networks

We outline a possible theoretical framework for the quantitative modeling of networked embodied cognitive systems. We notice that: 1) information self structuring through sensory-motor coordination does not deterministically occur in Rn vector space, a generic multivariable space, but in SE(3), the group structure of the possible motions of a body in space; 2) it happens in a stochastic open ended environment. These observations may simplify, at the price of a certain abstraction, the modeling and the design of self organization processes based on the maximization of some informational measures, such as mutual information. Furthermore, by providing closed form or computationally lighter algorithms, it may significantly reduce the computational burden of their implementation. We propose a modeling framework which aims to give new tools for the design of networks of new artificial self organizing, embodied and intelligent agents and the reverse engineering of natural ones. At this point, it represents much a theoretical conjecture and it has still to be experimentally verified whether this model will be useful in practice.

Reviewing agent-based modelling of socio-ecosystems: a methodology for the analysis of climate change adaptation and sustainability

The integrated - environmental, economic and social - analysis of climate change calls for a paradigm shift as it is fundamentally a problem of complex, bottom-up and multi-agent human behaviour. There is a growing awareness that global environmental change dynamics and the related socio-economic implications involve a degree of complexity that requires an innovative modelling of combined social and ecological systems. Climate change policy can no longer be addressed separately from a broader context of adaptation and sustainability strategies. A vast body of literature on agent-based modelling (ABM) shows its potential to couple social and environmental models, to incorporate the influence of micro-level decision making in the system dynamics and to study the emergence of collective responses to policies. However, there are few publications which concretely apply this methodology to the study of climate change related issues. The analysis of the state of the art reported in this paper supports the idea that today ABM is an appropriate methodology for the bottom-up exploration of climate policies, especially because it can take into account adaptive behaviour and heterogeneity of the system's components.Review, Agent-Based Modelling, Socio-Ecosystems, Climate Change, Adaptation, Complexity.