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

Self-organization in Communicating Groups: the emergence of coordination, shared references and collective intelligence\ud

The present paper will sketch the basic ideas of the complexity paradigm, and then apply them to social systems, and in particular to groups of communicating individuals who together need to agree about how to tackle some problem or how to coordinate their actions. I will elaborate these concepts to provide an integrated foundation for a theory of self-organization, to be understood as a non-linear process of spontaneous coordination between actions. Such coordination will be shown to consist of the following components: alignment, division of labor, workflow and aggregation. I will then review some paradigmatic simulations and experiments that illustrate the alignment of references and communicative conventions between communicating agents. Finally, the paper will summarize the preliminary results of a series of experiments that I devised in order to observe the emergence of collective intelligence within a communicating group, and interpret these observations in terms of alignment, division of labor and workflow

A Functional Architecture Approach to Neural Systems

The technology for the design of systems to perform extremely complex combinations of real-time functionality has developed over a long period. This technology is based on the use of a hardware architecture with a physical separation into memory and processing, and a software architecture which divides functionality into a disciplined hierarchy of software components which exchange unambiguous information. This technology experiences difficulty in design of systems to perform parallel processing, and extreme difficulty in design of systems which can heuristically change their own functionality. These limitations derive from the approach to information exchange between functional components. A design approach in which functional components can exchange ambiguous information leads to systems with the recommendation architecture which are less subject to these limitations. Biological brains have been constrained by natural pressures to adopt functional architectures with this different information exchange approach. Neural networks have not made a complete shift to use of ambiguous information, and do not address adequate management of context for ambiguous information exchange between modules. As a result such networks cannot be scaled to complex functionality. Simulations of systems with the recommendation architecture demonstrate the capability to heuristically organize to perform complex functionality