Asynchronous Decentralized Task Allocation for Dynamic Environments

This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous Consensus-Based Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specfically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA's functionality that enables e ffcient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm.United States. Air Force (grant FA9550-08-1-0086)United States. Air Force Office of Scientific Research (grant FA9550-08-1-0086)Aurora Flight Sciences Corp. (SBIR - FA8750-10-C-0107

Right Place, Right Time:Proactive Multi-Robot Task Allocation Under Spatiotemporal Uncertainty

For many multi-robot problems, tasks are announced during execution, where task announcement times and locations are uncertain. To synthesise multi-robot behaviour that is robust to early announcements and unexpected delays, multi-robot task allocation methods must explicitly model the stochastic processes that govern task announcement. In this paper, we model task announcement using continuous-time Markov chains which predict when and where tasks will be announced. We then present a task allocation framework which uses the continuous-time Markov chains to allocate tasks proactively, such that robots are near or at the task location upon its announcement. Our method seeks to minimise the expected total waiting duration for each task, i.e. the duration between task announcement and a robot beginning to service the task. Our framework can be applied to any multi-robot task allocation problem where robots complete spatiotemporal tasks which are announced stochastically. We demonstrate the efficacy of our approach in simulation, where we outperform baselines which do not allocate tasks proactively, or do not fully exploit our task announcement models

Combinatorial Auction-based Mechanisms for Composite Web Service Selection

Composite service selection presents the opportunity for the rapid development of complex applications using existing web services. It refers to the problem of selecting a set of web services from a large pool of available candidates to logically compose them to achieve value-added composite services. The aim of service selection is to choose the best set of services based on the functional and non-functional (quality related) requirements of a composite service requester. The current service selection approaches mostly assume that web services are offered as single independent entities; there is no possibility for bundling. Moreover, the current research has mainly focused on solving the problem for a single composite service. There is a limited research to date on how the presence of multiple requests for composite services affects the performance of service selection approaches. Addressing these two aspects can significantly enhance the application of composite service selection approaches in the real-world. We develop new approaches for the composite web service selection problem by addressing both the bundling and multiple requests issues. In particular, we propose two mechanisms based on combinatorial auction models, where the provisioning of multiple services are auctioned simultaneously and service providers can bid to offer combinations of web services. We mapped these mechanisms to Integer Linear Programing models and conducted extensive simulations to evaluate them. The results of our experimentation show that bundling can lead to cost reductions compared to when services are offered independently. Moreover, the simultaneous consideration of a set of requests enhances the success rate of the mechanism in allocating services to requests. By considering all composite service requests at the same time, the mechanism achieves more homogenous prices which can be a determining factor for the service requester in choosing the best composite service selection mechanism to deploy

Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms

This book is a reprint of the Special Issue “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”,which was published in Applied Sciences

VINEA: a policy-based virtual network embedding architecture

Network virtualization has enabled new business models by allowing infrastructure providers to lease or share their physical network. To concurrently run multiple customized virtual network services, such infrastructure providers need to run a virtual network embedding protocol. The virtual network embedding is the (NP-hard) problem of matching constrained virtual networks onto the physical network. We present the design and implementation of a policy-based architecture for the virtual network embedding problem. By policy, we mean a variant aspect of any of the (invariant) embedding mechanisms: resource discovery, virtual network mapping, and allocation on the physical infrastructure. Our architecture adapts to different scenarios by instantiating appropriate policies, and has bounds on embedding efficiency and on convergence embedding time, over a single provider, or across multiple federated providers. The performance of representative novel policy configurations are compared over a prototype implementation. We also present an object model as a foundation for a protocol specification, and we release a testbed to enable users to test their own embedding policies, and to run applications within their virtual networks. The testbed uses a Linux system architecture to reserve virtual node and link capacities.National Science Foundation (CNS-0963974

Auctions and bidding: A guide for computer scientists

There is a veritable menagerie of auctions-single-dimensional, multi-dimensional, single-sided, double-sided, first-price, second-price, English, Dutch, Japanese, sealed-bid-and these have been extensively discussed and analyzed in the economics literature. The main purpose of this article is to survey this literature from a computer science perspective, primarily from the viewpoint of computer scientists who are interested in learning about auction theory, and to provide pointers into the economics literature for those who want a deeper technical understanding. In addition, since auctions are an increasingly important topic in computer science, we also look at work on auctions from the computer science literature. Overall, our aim is to identifying what both these bodies of work these tell us about creating electronic auctions. © 2011 ACM.This work was funded in part by HP under the “Always on” grant, by NSF IIS-0329037 “Tools and Techniques for Automated Mechanism Design”, and by IEA (TIN2006-15662-C02-01), OK (IST-4-027253-STP), eREP(EC-FP6-CIT5-28575) and Agreement Technologies (CONSOLIDER CSD2007-0022, INGENIO 2010).Peer Reviewe

A Hybrid Multi-Robot Control Architecture

Multi-robot systems provide system redundancy and enhanced capability versus single robot systems. Implementations of these systems are varied, each with specific design approaches geared towards an application domain. Some traditional single robot control architectures have been expanded for multi-robot systems, but these expansions predominantly focus on the addition of communication capabilities. Both design approaches are application specific and limit the generalizability of the system. This work presents a redesign of a common single robot architecture in order to provide a more sophisticated multi-robot system. The single robot architecture chosen for application is the Three Layer Architecture (TLA). The primary strength of TLA is in the ability to perform both reactive and deliberative decision making, enabling the robot to be both sophisticated and perform well in stochastic environments. The redesign of this architecture includes incorporation of the Unified Behavior Framework (UBF) into the controller layer and an addition of a sequencer-like layer (called a Coordinator) to accommodate the multi-robot system. These combine to provide a robust, independent, and taskable individual architecture along with improved cooperation and collaboration capabilities, in turn reducing communication overhead versus many traditional approaches. This multi-robot systems architecture is demonstrated on the RoboCup Soccer Simulator showing its ability to perform well in a dynamic environment where communication constraints are high