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

Multi Agent Systems in Logistics: A Literature and State-of-the-art Review

Based on a literature survey, we aim to answer our main question: “How should we plan and execute logistics in supply chains that aim to meet today’s requirements, and how can we support such planning and execution using IT?†Today’s requirements in supply chains include inter-organizational collaboration and more responsive and tailored supply to meet specific demand. Enterprise systems fall short in meeting these requirements The focus of planning and execution systems should move towards an inter-enterprise and event-driven mode. Inter-organizational systems may support planning going from supporting information exchange and henceforth enable synchronized planning within the organizations towards the capability to do network planning based on available information throughout the network. We provide a framework for planning systems, constituting a rich landscape of possible configurations, where the centralized and fully decentralized approaches are two extremes. We define and discuss agent based systems and in particular multi agent systems (MAS). We emphasize the issue of the role of MAS coordination architectures, and then explain that transportation is, next to production, an important domain in which MAS can and actually are applied. However, implementation is not widespread and some implementation issues are explored. In this manner, we conclude that planning problems in transportation have characteristics that comply with the specific capabilities of agent systems. In particular, these systems are capable to deal with inter-organizational and event-driven planning settings, hence meeting today’s requirements in supply chain planning and execution.supply chain;MAS;multi agent systems

Organization of Multi-Agent Systems: An Overview

In complex, open, and heterogeneous environments, agents must be able to reorganize towards the most appropriate organizations to adapt unpredictable environment changes within Multi-Agent Systems (MAS). Types of reorganization can be seen from two different levels. The individual agents level (micro-level) in which an agent changes its behaviors and interactions with other agents to adapt its local environment. And the organizational level (macro-level) in which the whole system changes it structure by adding or removing agents. This chapter is dedicated to overview different aspects of what is called MAS Organization including its motivations, paradigms, models, and techniques adopted for statically or dynamically organizing agents in MAS.Comment: 12 page

Federated Embedded Systems – a review of the literature in related fields

This report is concerned with the vision of smart interconnected objects, a vision that has attracted much attention lately. In this paper, embedded, interconnected, open, and heterogeneous control systems are in focus, formally referred to as Federated Embedded Systems. To place FES into a context, a review of some related research directions is presented. This review includes such concepts as systems of systems, cyber-physical systems, ubiquitous computing, internet of things, and multi-agent systems. Interestingly, the reviewed fields seem to overlap with each other in an increasing number of ways

A Role-Based Approach for Orchestrating Emergent Configurations in the Internet of Things

The Internet of Things (IoT) is envisioned as a global network of connected things enabling ubiquitous machine-to-machine (M2M) communication. With estimations of billions of sensors and devices to be connected in the coming years, the IoT has been advocated as having a great potential to impact the way we live, but also how we work. However, the connectivity aspect in itself only accounts for the underlying M2M infrastructure. In order to properly support engineering IoT systems and applications, it is key to orchestrate heterogeneous 'things' in a seamless, adaptive and dynamic manner, such that the system can exhibit a goal-directed behaviour and take appropriate actions. Yet, this form of interaction between things needs to take a user-centric approach and by no means elude the users' requirements. To this end, contextualisation is an important feature of the system, allowing it to infer user activities and prompt the user with relevant information and interactions even in the absence of intentional commands. In this work we propose a role-based model for emergent configurations of connected systems as a means to model, manage, and reason about IoT systems including the user's interaction with them. We put a special focus on integrating the user perspective in order to guide the emergent configurations such that systems goals are aligned with the users' intentions. We discuss related scientific and technical challenges and provide several uses cases outlining the concept of emergent configurations.Comment: In Proceedings of the Second International Workshop on the Internet of Agents @AAMAS201

Simplistic vs. Complex Organization: Markets, Hierarchies, and Networks in an 'Organizational Triangle'

Transaction cost economics explains organizations in a simplistic ‘market-vs.-hierarchy’ dichotomy. In this view, complex real-world coordination forms are simply considered ‘hybrids’ of those ‘pure’ and ideal forms, thus being located on a one-dimensional ‘line’ between them. This ‘organizational dichotomy’ is mainly based on relative marginal transaction costs, relative lengths of value-added chains, and ‘rational choice’ of coordination form. The present paper, in contrast, argues that pure ‘market’ and ‘hierarchy’, even including their potential hybrids, are a theoretically untenable and empirically void set. Coordination forms, it is argued, have to be conceptualized in a fundamentally different way. A relevant ‘organizational space’ must reflect the dimensions of a complex world such as dilemma-prone direct interdependence, resulting in strong strategic uncertainty, mutual externalities, collectivities, and subsequent emergent process. This, in turn, will lead either to (1) informally institutionalized, problem-solving cooperation (the instrumental dimension of the institution) or (2) mutual blockage, lock-in on an inferior path, or power- and status-based market and hierarchy failure (the ceremonial dimension of the institution). This paper establishes emergent instrumental institutionalized cooperation as a genuine organizational dimension which generates a third ‘attractor’ besides ‘market’ and ‘hierarchy’, i.e., informal network. In this way, an ‘organizational triangle’ can be generated which may serve as a more relevant heuristic device for empirical organizational research. Its ideal corners and some ideal hybrids on its edges (such as ideal clusters and ideal hub&spoke networks) still remain empirically void, but its inner space becomes empirically relevant and accessible. The ‘Organizational Triangle’ is tentatively applied (besides casual reference to corporate behavior that has lead to the current financial meltdown), by way of a set of criteria for instrumental problem-solving and a simple formal algorithm, to the cases of the supplier network of ‘DaimlerChrysler US International’ at Tuscaloosa, AL, the open-source network Linux, and the web-platforms Wikipedia and ‘Open-Source Car’. It is considered to properly reflect what is generally theorized in evolutionary-institutional economics of organizations and the firm and might offer some insight for the coming industrial reconstructions of the car and other industries.Market vs. Hierarchy; Transaction Costs; Complexity; Institutionalization; Network Formation; Hub&Spoke Supplier Networks; Open-Source Networks

“It Takes All Kinds”: A Simulation Modeling Perspective on Motivation and Coordination in Libre Software Development Projects

This paper presents a stochastic simulation model to study implications of the mechanisms by which individual software developers’ efforts are allocated within large and complex open source software projects. It illuminates the role of different forms of “motivations-at-the-margin” in the micro-level resource allocation process of distributed and decentralized multi-agent engineering undertakings of this kind. We parameterize the model by isolating the parameter ranges in which it generates structures of code that share certain empirical regularities found to characterize actual projects. We find that, in this range, a variety of different motivations are represented within the community of developers. There is a correspondence between the indicated mixture of motivations and the distribution of avowed motivations for engaging in FLOSS development, found in the survey responses of developers who were participants in large projects.free and open source software (FLOSS), libre software engineering, maintainability, reliability, functional diversity, modularity, developers’ motivations, user-innovation, peer-esteem, reputational reward systems, agent-based modeling, stochastic simulation, stigmergy, morphogenesis.

Industrial districts as organizational environments: resources, networks and structures

The paper combines economic and sociological perspectives on organizations in order to gain a better understanding of the forces shaping the structures of industrial districts (IDs) and the organizations of which they are constituted. To effect the combination , the resource based view (RBV) and resource dependency theory are combined to explain the evolution of different industry structures. The paper thus extends work by Toms and Filatotchev by spatializing consideration of resource distribution and resource dependence. The paper has important implications for conventional interpretations in the fields of business and organizational history and for the main areas of theory hitherto considered separately, particularly the Chandlerian model of corporate hierarchy as contrasted with the alternative of clusters of small firms coordinated by networks