scholarly journals Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions

Author(s):  
Ozer Ozkahraman ◽  
Petter Ogren
Author(s):  
Aadesh Neupane ◽  
Michael Goodrich

Algorithms used in networking, operation research and optimization can be created using bio-inspired swarm behaviors, but it is difficult to mimic swarm behaviors that generalize through diverse environments. State-machine-based artificial collective behaviors evolved by standard Grammatical Evolution (GE) provide promise for general swarm behaviors but may not scale to large problems. This paper introduces an algorithm that evolves problem-specific swarm behaviors by combining multi-agent grammatical evolution and Behavior Trees (BTs). We present a BT-based BNF grammar, supported by different fitness function types, which overcomes some of the limitations in using GEs to evolve swarm behavior. Given human-provided, problem-specific fitness-functions, the learned BT programs encode individual agent behaviors that produce desired swarm behaviors. We empirically verify the algorithm's effectiveness on three different problems: single-source foraging, collective transport, and nest maintenance. Agent diversity is key for the evolved behaviors to outperform hand-coded solutions in each task.


GigaScience ◽  
2021 ◽  
Vol 10 (6) ◽  
Author(s):  
Diogo Munaro Vieira ◽  
Chrystinne Fernandes ◽  
Carlos Lucena ◽  
Sérgio Lifschitz

Abstract Background The amount of data and behavior changes in society happens at a swift pace in this interconnected world. Consequently, machine learning algorithms lose accuracy because they do not know these new patterns. This change in the data pattern is known as concept drift. There exist many approaches for dealing with these drifts. Usually, these methods are costly to implement because they require (i) knowledge of drift detection algorithms, (ii) software engineering strategies, and (iii) continuous maintenance concerning new drifts. Results This article proposes to create Driftage: a new framework using multi-agent systems to simplify the implementation of concept drift detectors considerably and divide concept drift detection responsibilities between agents, enhancing explainability of each part of drift detection. As a case study, we illustrate our strategy using a muscle activity monitor of electromyography. We show a reduction in the number of false-positive drifts detected, improving detection interpretability, and enabling concept drift detectors’ interactivity with other knowledge bases. Conclusion We conclude that using Driftage, arises a new paradigm to implement concept drift algorithms with multi-agent architecture that contributes to split drift detection responsability, algorithms interpretability and more dynamic algorithms adaptation.


2012 ◽  
Vol 253-255 ◽  
pp. 1195-1200
Author(s):  
Zhe Zhang ◽  
Chang Xu Ji ◽  
Mao Jing Jin ◽  
Qian Li ◽  
Lifen Yun ◽  
...  

Distribution service network system (DSNS) has dynamic, open, pop and other nonlinear characteristics in terms of structure, environment, and behavior as a subsystem of comprehensive passenger transportation hub system (CPTH). It is a typical complex system. The author putted forward the adaptability of DSNS based on the analysis of complexity of DSNS and analyzed the driving force of adaptability. The model of individual agent and self-adaptive control model of DSNS were designed to provide a dynamic method for adjusting control strategy based on multi-Agent method and CAS theory.


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