Synthesized cooperative strategies for intelligent multi-robots in a real-time distributed environment : a thesis presented in partial fulfillment of the requirements for the degree of Master of Science in Computer Science at Massey University, Albany, New Zealand

In the robot soccer domain, real-time response usually curtails the development of more complex Al-based game strategies, path-planning and team cooperation between intelligent agents. In light of this problem, distributing computationally intensive algorithms between several machines to control, coordinate and dynamically assign roles to a team of robots, and allowing them to communicate via a network gives rise to real-time cooperation in a multi-robotic team. This research presents a myriad of algorithms tested on a distributed system platform that allows for cooperating multi- agents in a dynamic environment. The test bed is an extension of a popular robot simulation system in the public domain developed at Carnegie Mellon University, known as TeamBots. A low-level real-time network game protocol using TCP/IP and UDP were incorporated to allow for a conglomeration of multi-agent to communicate and work cohesively as a team. Intelligent agents were defined to take on roles such as game coach agent, vision agent, and soccer player agents. Further, team cooperation is demonstrated by integrating a real-time fuzzy logic-based ball-passing algorithm and a fuzzy logic algorithm for path planning. Keywords Artificial Intelligence, Ball Passing, the coaching system, Collaborative, Distributed Multi-Agent, Fuzzy Logic, Role Assignmen

Reactive scheduling using a multi-agent model: the SCEP framework

Multi-agent systems have been successfully applied to the scheduling problem for some time. However, their use often leads to poorly unsatisfactory disappointing results. A new multi-agent model, called supervisor, customers, environment, producers (SCEP), is suggested in this paper. This model, developed for all types of planning activities, introduces a dialogue between two communities of agents leading to a high level of co-operation. Its two main interests are the following: first it provides a more efficient control of the consequences generated by the local decisions than usual systems to each agent, then the adopted architecture and behaviour permit an easy co-operation between the different SCEP models, which can represent different production functions such as manufacturing, supply management, maintenance or different workshops. As a consequence, the SCEP model can be adapted to a great variety of scheduling/planning problems. This model is applied to the basic scheduling problem of flexible manufacturing systems, andit permits a natural co-habitation between infinite capacity scheduling processes, performedby the manufacturing orders, and finite capacity scheduling processes, performed by the machines. It also provides a framework in order to react to the disturbances occurring at different levels of the workshop

Aligning the operations of barges and terminals through distributed planning

In this thesis we consider the barge handling problem, which is about the alignment of barge and terminal operations in a port. Complicating factor in tackling this problem is that centralized planning is not acceptable for the parties concerned. \ud \ud In our research we explore an alternative: distributed planning. We develop a Multi-Agent system (MAS) consisting of barge operator agents and terminal operator agents. We propose a specific interaction protocol based on service-time profiles through which barge and terminal operators are able to improve their planning. \ud \ud To evaluate the performance of our MAS we conduct simulation studies. In this way we get insight in the performance of the system as a whole as the result of the interactions of barge and terminal operators. Additionally, we compare the performance with an off-line benchmark, resembling central coordination.\ud \ud Our findings are promising. Our interaction protocol supports an efficient negotiation between barge and terminal operators. Our MAS allows for real-time alignment of barge and terminal operations such that the overall system performance is well within the range of central planning performance. Moreover, our MAS suppresses the propagation of disruptions, making the operations of barges and terminals more reliable.\ud \ud Experiences with the management game that we designed to explain our solution to practitioners, are encouraging and indicate that our MAS may be acceptable for barge and terminal operators and implementable in practice.\ud \ud Throughout the thesis we took the Port of Rotterdam as our source of inspiration, although our model is applicable to general multi-terminal, multi-barge settings. Generally we conclude that our Multi-Agent system is a promising solution for the barge handling problem and can result in a significant improvement in practice