Models of Consensus for Multiple Agent Systems

Models of consensus are used to manage multiple agent systems in order to choose between different recommendations provided by the system. It is assumed that there is a central agent that solicits recommendations or plans from other agents. That agent the n determines the consensus of the other agents, and chooses the resultant consensus recommendation or plan. Voting schemes such as this have been used in a variety of domains, including air traffic control. This paper uses an analytic model to study the use of consensus in multiple agent systems. The binomial model is used to study the probability that the consensus judgment is correct or incorrect. That basic model is extended to account for both different levels of agent competence and unequal prior odds. The analysis of that model is critical in the investigation of multiple agent systems, since the model leads us to conclude that in some cases consensus judgment is not appropriate. In addition, the results allow us to determine how many agents should be used to develop consensus decisions, which agents should be used to develop consensus decisions and under which conditions the consensus model should be used.Comment: Appears in Proceedings of the Tenth Conference on Uncertainty in Artificial Intelligence (UAI1994

Multi-Agent Consensus Seeking via Large Language Models

Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When multiple agents work together, we are interested in how they can reach a consensus through inter-agent negotiation. To that end, this work studies a consensus-seeking task where the state of each agent is a numerical value and they negotiate with each other to reach a consensus value. It is revealed that when not explicitly directed on which strategy should be adopted, the LLM-driven agents primarily use the average strategy for consensus seeking although they may occasionally use some other strategies. Moreover, this work analyzes the impact of the agent number, agent personality, and network topology on the negotiation process. The findings reported in this work can potentially lay the foundations for understanding the behaviors of LLM-driven multi-agent systems for solving more complex tasks. Furthermore, LLM-driven consensus seeking is applied to a multi-robot aggregation task. This application demonstrates the potential of LLM-driven agents to achieve zero-shot autonomous planning for multi-robot collaboration tasks. Project website: westlakeintelligentrobotics.github.io/ConsensusLLM/

Novel Fuzzy Systems for Human-Autonomous Agent Teaming

University of Technology Sydney. Faculty of Engineering and Information Technology.The Multi-agent Teaming (MAT) systems that have been widely applied in many fields provide a novel method for establishing models, conducting the analysis, implementing complex tasks and so on. The agents in an MAT system can be defined as intelligent agents, machine agents and human agents based on a particular task to exhibit flexible behaviours. This research investigates various fuzzy models to resolve the problems of designing MAT systems. The main contributions are as follows. 1) For multiple-agent coordination, a hierarchical fuzzy system is proposed and applied to navigation and simultaneous arrival of mobile agents. 2) Explainable fuzzy systems are proposed. We developed an interpretable fuzzy model for human agents to understand the decision rules learned by machine agents and a fuzzy rule information visualisation framework for machine agents to understand human cognitive states. 3) Finally, the distributed fuzzy system is proposed to resolve the data privacy and high-dimensional data in designing MAT systems. A novel consensus learning is developed for the distributed fuzzy system to learn antecedent and consequent components

Opinion dynamics: models, extensions and external effects

Recently, social phenomena have received a lot of attention not only from social scientists, but also from physicists, mathematicians and computer scientists, in the emerging interdisciplinary field of complex system science. Opinion dynamics is one of the processes studied, since opinions are the drivers of human behaviour, and play a crucial role in many global challenges that our complex world and societies are facing: global financial crises, global pandemics, growth of cities, urbanisation and migration patterns, and last but not least important, climate change and environmental sustainability and protection. Opinion formation is a complex process affected by the interplay of different elements, including the individual predisposition, the influence of positive and negative peer interaction (social networks playing a crucial role in this respect), the information each individual is exposed to, and many others. Several models inspired from those in use in physics have been developed to encompass many of these elements, and to allow for the identification of the mechanisms involved in the opinion formation process and the understanding of their role, with the practical aim of simulating opinion formation and spreading under various conditions. These modelling schemes range from binary simple models such as the voter model, to multi-dimensional continuous approaches. Here, we provide a review of recent methods, focusing on models employing both peer interaction and external information, and emphasising the role that less studied mechanisms, such as disagreement, has in driving the opinion dynamics. [...]Comment: 42 pages, 6 figure

Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol which is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme