Hybrid automata dicretising agents for formal modelling of robots

Some of the fundamental capabilities required by autonomous vehicles and systems for their intelligent decision making are: modelling of the environment and forming data abstractions for symbolic, logic based reasoning. The paper formulates a discrete agent framework that abstracts and controls a hybrid system that is a composition of hybrid automata modelled continuous individual processes. Theoretical foundations are laid down for a class of general model composition agents (MCAs) with an advanced subclass of rational physical agents (RPAs). We define MCAs as the most basic structures for the description of complex autonomous robotic systems. The RPA’s have logic based decision making that is obtained by an extension of the hybrid systems concepts using a set of abstractions. The theory presented helps the creation of robots with reliable performance and safe operation in their environment. The paper emphasizes the abstraction aspects of the overall hybrid system that emerges from parallel composition of sets of RPAs and MCAs

Modularity and Openness in Modeling Multi-Agent Systems

We revisit the formalism of modular interpreted systems (MIS) which encourages modular and open modeling of synchronous multi-agent systems. The original formulation of MIS did not live entirely up to its promise. In this paper, we propose how to improve modularity and openness of MIS by changing the structure of interference functions. These relatively small changes allow for surprisingly high flexibility when modeling actual multi-agent systems. We demonstrate this on two well-known examples, namely the trains, tunnel and controller, and the dining cryptographers. Perhaps more importantly, we propose how the notions of multi-agency and openness, crucial for multi-agent systems, can be precisely defined based on their MIS representations.Comment: In Proceedings GandALF 2013, arXiv:1307.416

Effects of communication and utility-based decision making in a simple model of evacuation

We present a simple cellular automaton based model of decision making during evacuation. Evacuees have to choose between two different exit routes, resulting in a strategic decision making problem. Agents take their decisions based on utility functions, these can be revised as the evacuation proceeds, leading to complex interaction between individuals and to jamming transitions. The model also includes the possibility to communicate and exchange information with distant agents, information received may affect the decision of agents. We show that under a wider range of evacuation scenarios performance of the model system as a whole is optimal at an intermediate fraction of evacuees with access to communication.Comment: 9 pages, 9 figure

Modelling of Multi-Agent Systems: Experiences with Membrane Computing and Future Challenges

Formal modelling of Multi-Agent Systems (MAS) is a challenging task due to high complexity, interaction, parallelism and continuous change of roles and organisation between agents. In this paper we record our research experience on formal modelling of MAS. We review our research throughout the last decade, by describing the problems we have encountered and the decisions we have made towards resolving them and providing solutions. Much of this work involved membrane computing and classes of P Systems, such as Tissue and Population P Systems, targeted to the modelling of MAS whose dynamic structure is a prominent characteristic. More particularly, social insects (such as colonies of ants, bees, etc.), biology inspired swarms and systems with emergent behaviour are indicative examples for which we developed formal MAS models. Here, we aim to review our work and disseminate our findings to fellow researchers who might face similar challenges and, furthermore, to discuss important issues for advancing research on the application of membrane computing in MAS modelling.Comment: In Proceedings AMCA-POP 2010, arXiv:1008.314

A Process-Oriented Architecture for Complex System Modelling

A fine-grained massively-parallel process-oriented model of platelets (potentially artificial) within a blood vessel is presented. This is a CSP inspired design, expressed and implemented using the occam-pi language. It is part of the TUNA pilot study on nanite assemblers at the universities of York, Surrey and Kent. The aim for this model is to engineer emergent behaviour from the platelets, such that they respond to a wound in the blood vessel wall in a way similar to that found in the human body -- i.e. the formation of clots to stem blood flow from the wound and facilitate healing. An architecture for a three dimensional model (relying strongly on the dynamic and mobile capabilities of occam-pi) is given, along with mechanisms for visualisation and interaction. The biological accuracy of the current model is very approximate. However, its process-oriented nature enables simple refinement (through the addition of processes modelling different stimulants/inhibitors of the clotting reaction, different platelet types and other participating organelles) to greater and greater realism. Even with the current system, simple experiments are possible and have scientific interest (e.g. the effect of platelet density on the success of the clotting mechanism in stemming blood flow: too high or too low and the process fails). General principles for the design of large and complex system models are drawn. The described case study runs to millions of processes engaged in ever-changing communication topologies. It is free from deadlock, livelock, race hazards and starvation em by design, employing a small set of synchronisation patterns for which we have proven safety theorems

A Calculus of Mobility and Communication for Ubiquitous Computing

We propose a Calculus of Mobility and Communication (CMC) for the modelling of mobility, communication and context-awareness in the setting of ubiquitous computing. CMC is an ambient calculus with the in and out capabilities of Cardelli and Gordon's Mobile Ambients. The calculus has a new form of global communication similar to that in Milner's CCS. In CMC an ambient is tagged with a set of ports that agents executing inside the ambient are allowed to communicate on. It also has a new context-awareness feature that allows ambients to query their location. We present reduction semantics and labelled transition system semantics of CMC and prove that the semantics coincide. A new notion of behavioural equivalence is given by defining capability barbed bisimulation and congruence which is proved to coincide with barbed bisimulation congruence. The expressiveness of the calculus is illustrated by two case studies.Comment: In Proceedings WWV 2015, arXiv:1508.0338

Memory transition between communicating agents

Abstract: What happens to a memory when it has been externalised and embodied but has not reached its addressee yet? A letter that has been written but has not been read, a monument before it is unveiled or a Neolithic tool buried in the ground – all these objects harbour human memories engrained in their physicality; messages intended for those who will read the letter, admire the monument and hold the tool. According to Ilyenkov’s theory of objective idealism, the conscious and wilful input encoded in all manmade objects as the ‘ideal’ has an objective existence, independent from the author, but this existence lasts only while memories are shared between communicating parties. If all human minds were absent from the world for a period of time, the ‘ideal’, or memories, would cease to exist. They would spring back to existence, however, once humans re-entered the world. Ilyenkov’s analysis of memories existing outside an individual human consciousness is informative and thorough but, following his line of thought, we would have to accept an ontological gap in the process of memory acquisition, storage and transmission. If there is a period, following memory acquisition and receding its transmission, when memories plainly do not exist, then each time a new reader, spectator or user perceives them, he or she must create the author’s memories ex nihilo. Bergson’s theory of duration and intuition can help us to resolve this paradox. This paper will explore the ontological characteristics of memory passage in communication taken at different stages of the process. There will be an indicationof how the findings of this investigation could be applicable to concrete cases of memory transmission. In particular, this concerns intergenerational communication, technological memory, the use of digital devices and the Internet

Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a temporal logic formula, while guaranteeing inter-agent collision avoidance. In particular, by defining 3-D spheres that bound the agents' volume, we extend previous work on decentralized navigation functions and propose control laws that navigate the agents among predefined regions of interest of the workspace while avoiding collision with each other. This allows us to abstract the motion of the agents as finite transition systems and, by employing standard formal verification techniques, to derive a high-level control algorithm that satisfies the agents' specifications. Simulation and experimental results with quadrotors verify the validity of the proposed method.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA), Singapore, 201