108,170 research outputs found

    A Framework for Coordinated Control of Multi-Agent Systems

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    Multi-agent systems represent a group of agents that cooperate to solve common tasks in a dynamic environment. Multi-agent control systems have been widely studied in the past few years. The control of multi-agent systems relates to synthesizing control schemes for systems which are inherently distributed and composed of multiple interacting entities. Because of the wide applications of multi-agent theories in large and complex control systems, it is necessary to develop a framework to simplify the process of developing control schemes for multi-agent systems. In this study, a framework is proposed for the distributed control and coordination of multi-agent systems. In the proposed framework, the control of multi-agent systems is regarded as achieving decentralized control and coordination of agents. Each agent is modeled as a Coordinated Hybrid Agent (CHA) which is composed of an intelligent coordination layer and a hybrid control layer. The intelligent coordination layer takes the coordination input, plant input and workspace input. After processing the coordination primitives, the intelligent coordination layer outputs the desired action to the hybrid layer. In the proposed framework, we describe the coordination mechanism in a domain-independent way, as simple abstract primitives in a coordination rule base for certain dependency relationships between the activities of different agents. The intelligent coordination layer deals with the planning, coordination, decision-making and computation of the agent. The hybrid control layer of the proposed framework takes the output of the intelligent coordination layer and generates discrete and continuous control signals to control the overall process. In order to verify the feasibility of the proposed framework, experiments for both heterogeneous and homogeneous Multi-Agent Systems (MASs) are implemented. In addition, the stability of systems modeled using the proposed framework is also analyzed. The conditions for asymptotic stability and exponential stability of a CHA system are given. In order to optimize a Multi-Agent System (MAS), a hybrid approach is proposed to address the optimization problem for a MAS modeled using the CHA framework. Both the event-driven dynamics and time-driven dynamics are included for the formulation of the optimization problem. A generic formula is given for the optimization of the framework. A direct identification algorithm is also discussed to solve the optimization problem

    Distributed Abductive Reasoning: Theory, Implementation and Application

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    Abductive reasoning is a powerful logic inference mechanism that allows assumptions to be made during answer computation for a query, and thus is suitable for reasoning over incomplete knowledge. Multi-agent hypothetical reasoning is the application of abduction in a distributed setting, where each computational agent has its local knowledge representing partial world and the union of all agents' knowledge is still incomplete. It is different from simple distributed query processing because the assumptions made by the agents must also be consistent with global constraints. Multi-agent hypothetical reasoning has many potential applications, such as collaborative planning and scheduling, distributed diagnosis and cognitive perception. Many of these applications require the representation of arithmetic constraints in their problem specifications as well as constraint satisfaction support during the computation. In addition, some applications may have confidentiality concerns as restrictions on the information that can be exchanged between the agents during their collaboration. Although a limited number of distributed abductive systems have been developed, none of them is generic enough to support the above requirements. In this thesis we develop, in the spirit of Logic Programming, a generic and extensible distributed abductive system that has the potential to target a wide range of distributed problem solving applications. The underlying distributed inference algorithm incorporates constraint satisfaction and allows non-ground conditional answers to be computed. Its soundness and completeness have been proved. The algorithm is customisable in that different inference and coordination strategies (such as goal selection and agent selection strategies) can be adopted while maintaining correctness. A customisation that supports confidentiality during problem solving has been developed, and is used in application domains such as distributed security policy analysis. Finally, for evaluation purposes, a flexible experimental environment has been built for automatically generating different classes of distributed abductive constraint logic programs. This environment has been used to conduct empirical investigation of the performance of the customised system

    Coordination approaches and systems - part I : a strategic perspective

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    This is the first part of a two-part paper presenting a fundamental review and summary of research of design coordination and cooperation technologies. The theme of this review is aimed at the research conducted within the decision management aspect of design coordination. The focus is therefore on the strategies involved in making decisions and how these strategies are used to satisfy design requirements. The paper reviews research within collaborative and coordinated design, project and workflow management, and, task and organization models. The research reviewed has attempted to identify fundamental coordination mechanisms from different domains, however it is concluded that domain independent mechanisms need to be augmented with domain specific mechanisms to facilitate coordination. Part II is a review of design coordination from an operational perspective

    Run-Time Selection of Coordination Mechanisms in Multi-Agent Systems

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    This paper presents a framework that enables autonomous agents to dynamically select the mechanism they employ in order to coordinate their inter-related activities. Adopting this framework means coordination mechanisms move from the realm of being imposed upon the system at design time, to something that the agents select at run-time in order to fit their prevailing circumstances and their current coordination needs. Empirical analysis is used to evaluate the effect of various design alternatives for the agent's decision making mechanisms and for the coordination mechanisms themselves

    Separating Agent-Functioning and Inter-Agent Coordination by Activated Modules: The DECOMAS Architecture

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    The embedding of self-organizing inter-agent processes in distributed software applications enables the decentralized coordination system elements, solely based on concerted, localized interactions. The separation and encapsulation of the activities that are conceptually related to the coordination, is a crucial concern for systematic development practices in order to prepare the reuse and systematic integration of coordination processes in software systems. Here, we discuss a programming model that is based on the externalization of processes prescriptions and their embedding in Multi-Agent Systems (MAS). One fundamental design concern for a corresponding execution middleware is the minimal-invasive augmentation of the activities that affect coordination. This design challenge is approached by the activation of agent modules. Modules are converted to software elements that reason about and modify their host agent. We discuss and formalize this extension within the context of a generic coordination architecture and exemplify the proposed programming model with the decentralized management of (web) service infrastructures

    OpenKnowledge at work: exploring centralized and decentralized information gathering in emergency contexts

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    Real-world experience teaches us that to manage emergencies, efficient crisis response coordination is crucial; ICT infrastructures are effective in supporting the people involved in such contexts, by supporting effective ways of interaction. They also should provide innovative means of communication and information management. At present, centralized architectures are mostly used for this purpose; however, alternative infrastructures based on the use of distributed information sources, are currently being explored, studied and analyzed. This paper aims at investigating the capability of a novel approach (developed within the European project OpenKnowledge1) to support centralized as well as decentralized architectures for information gathering. For this purpose we developed an agent-based e-Response simulation environment fully integrated with the OpenKnowledge infrastructure and through which existing emergency plans are modelled and simulated. Preliminary results show the OpenKnowledge capability of supporting the two afore-mentioned architectures and, under ideal assumptions, a comparable performance in both cases
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