Multi‑Agent Foraging: state‑of‑the‑art and research challenges

International audienceThe foraging task is one of the canonical testbeds for cooperative robotics, in which a collection of robots has to search and transport objects to specific storage point(s). In this paper, we investigate the Multi-Agent Foraging (MAF) problem from several perspectives that we analyze in depth. First, we define the Foraging Problem according to literature definitions. Then we analyze previously proposed taxonomies, and propose a new foraging taxonomy characterized by four principal axes: Environment, Collective, Strategy and Simulation, summarize related foraging works and classify them through our new foraging taxonomy. Then, we discuss the real implementation of MAF and present a comparison between some related foraging works considering important features that show extensibility, reliability and scalability of MAF systems. Finally we present and discuss recent trends in this field, emphasizing the various challenges that could enhance the existing MAF solutions and make them realistic

Modelo de toma de decisiones en Agentes Inteligentes, mejorando el esquema BDI

El presente Trabajo Final de Maestría parte de la relación que existe entre dos teorías: el modelo de Belief, Desires, Intentions (BDI) propuesto por Michael Bratman, y la Teoría Clásica de Racionalidad y sus debilidades caracterizadas por Jhon Searle. Estas proposiciones analizan el pensamiento humano y buscan caracterizar los orígenes de la racionalidad y la toma de decisiones desde una perspectiva filosófica y psicológica. El Modelo BDI ha sido llevado ampliamente a la implementación de sistemas informáticos inteligentes y particularmente es un modelo para agentes inteligentes computacionales. A partir de esto, este trabajo busca plantear las relaciones que existen entre el modelo BDI y la Teoría Clásica de Racionalidad, y como puede esta última complementar la arquitectura ya definida para Agentes inteligentes dentro del modelo de razonamiento y toma de decisiones que estos poseen. En la primera parte se hace una introducción a los planteamientos iniciales de la investigación, posterior a esto se evidencia el fundamento teórico de la racionalidad en Agentes Inteligentes y se realiza una presentación del estado del arte en el campo. Se realiza una propuesta frente al modelo actual denominado BDI-S y se presenta el trabajo ejecutado para ponerlo en práctica. Finalmente se presentan las conclusiones al respectoAbstract : This Project of Master Degree lies on the relationship between two theories: the model of Belief, Desires, Intentions (BDI) proposed by Michael Bratman, and the classical model of rationality and its weaknesses characterized by John Searle. These propositions analyze the human thought and seek to characterize the origins of rationality and decision making from a philosophical and psychological perspective. The BDI model has been widely taken to the implementation of intelligent computer systems and particularly is a model for intelligent agents. This work seeks to raise relations between the BDI model and the classical theory of rationality, and as the latter may complement the already defined architecture for intelligent agents within the model of reasoning and decision making which they possess. The first part is an introduction to the initial investigative approaches, after this, it shows a theoretical foundation of rationality on Intelligent Agents and realize a presentation of the state of the art in the field. A proposal is performed from the current model called BDI-S and the work performed to implement it is exhibit. Finally, conclusions are presentedMaestrí