Dynamic Exploration of Multi-agent Systems with Periodic Timed Tasks

2020 ◽  
Author(s):  
Johan Arcile ◽  
Raymond Devillers ◽  
Hanna Klaudel
Keyword(s):  
State Space ◽  
Petri Net ◽  
Timed Automata ◽  
Autonomous Vehicle ◽  
Computation Time ◽  
The State ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Vehicle Systems ◽  
Multi Agent

We formalise and study multi-agent timed models MAPTs (Multi-Agent with Periodic timed Tasks), where each agent is associated with a regular timed schema upon which all possible actions of the agent rely. MAPTs allow for an accelerated semantics and a layered structure of the state space, so that it is possible to explore the latter dynamically and use heuristics to greatly reduce the computation time needed to address reachability problems. We use an available tool for the Petri net implementation of MAPTs, to explore the state space of autonomous vehicle systems. Then, we compare this exploration with timed automata-based approaches in terms of expressiveness of available queries and computation time.

Dynamic Exploration of Multi-agent Systems with Periodic Timed Tasks

2020 ◽  
Vol 175 (1-4) ◽  
pp. 59-95
Author(s):  
Johan Arcile ◽  
Raymond Devillers ◽  
Hanna Klaudel
Keyword(s):  
State Space ◽  
Petri Net ◽  
Timed Automata ◽  
Autonomous Vehicle ◽  
Computation Time ◽  
The State ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Vehicle Systems ◽  
Multi Agent

We formalise and study multi-agent timed models MAPTs (Multi-Agent with Periodic timed Tasks), where each agent is associated with a regular timed schema upon which all possible actions of the agent rely. MAPTs allow for an accelerated semantics and a layered structure of the state space, so that it is possible to explore the latter dynamically and use heuristics to greatly reduce the computation time needed to address reachability problems. We use an available tool for the Petri net implementation of MAPTs, to explore the state space of autonomous vehicle systems. Then, we compare this exploration with timed automata-based approaches in terms of expressiveness of available queries and computation time.

Bounded Model Checking Algorithm to Reduce the State Space in Multi-Agent Systems

2014 ◽  
Vol 23 (11) ◽  
pp. 2835-2861
Author(s):  
Cong-Hua ZHOU ◽  
Meng YE ◽  
Chang-Da WANG ◽  
Zhi-Feng LIU
Keyword(s):  
Model Checking ◽  
State Space ◽  
Bounded Model Checking ◽  
The State ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

Set-Membership Filtering-Based Leader–Follower Synchronization of Discrete-Time Linear Multi-Agent Systems

2021 ◽  
Vol 143 (6) ◽  
Author(s):  
Diganta Bhattacharjee ◽  
Kamesh Subbarao
Keyword(s):  
Discrete Time ◽  
The State ◽  
Multi Agent Systems ◽  
State Estimator ◽  
Agent Systems ◽  
Set Membership ◽  
Multi Agent ◽  
Bounded Input ◽  
Time Linear ◽  
Synchronization Protocol

Abstract In this paper, a set-membership filtering-based leader–follower synchronization protocol for discrete-time linear multi-agent systems is proposed, wherein the aim is to make the agents synchronize with a leader. The agents, governed by identical high-order discrete-time linear dynamics, are subject to unknown-but-bounded input disturbances. In terms of its own state information, each agent only has access to measured outputs that are corrupted with unknown-but-bounded output disturbances. Also, the initial states of the agents are unknown. To deal with all these unknowns (or uncertainties), a set-membership filter (or state estimator), having the “correction-prediction” form of a standard Kalman filter, is formulated. We consider each agent to be equipped with this filter that estimates the state of the agent and consider the agents to be able to share the state estimate information with the neighbors locally. The corrected state estimates of the agents are utilized in the local control law design for synchronization. Under appropriate conditions, the global disagreement error between the agents and the leader is shown to be bounded. An upper bound on the norm of the global disagreement error is calculated and shown to be monotonically decreasing. Finally, a simulation example is included to illustrate the effectiveness of the proposed leader–follower synchronization protocol.

scholarly journals Advanced Double Layered Multi-Agent Systems Based on A3C in Real-Time Path Planning

Electronics ◽  
2021 ◽  
Vol 10 (22) ◽  
pp. 2762
Author(s):  
Dajeong Lee ◽  
Junoh Kim ◽  
Kyungeun Cho ◽  
Yunsick Sung
Keyword(s):  
State Space ◽  
Lower Layer ◽  
Goal Achievement ◽  
The State ◽  
Multi Agent Systems ◽  
Learning Time ◽  
Autonomous Surface Vehicle ◽  
Multi Agent ◽  
Vehicle Simulator ◽  
Time Required

In this paper, we propose an advanced double layered multi-agent system to reduce learning time, expressing a state space using a 2D grid. This system is based on asynchronous advantage actor-critic systems (A3C) and reduces the state space that agents need to consider by hierarchically expressing a 2D grid space and determining actions. Specifically, the state space is expressed in the upper and lower layers. Based on the learning results using A3C in the lower layer, the upper layer makes decisions without additional learning, and accordingly, the total learning time can be reduced. Our method was verified experimentally using a virtual autonomous surface vehicle simulator. It reduced the learning time required to reach a 90% goal achievement rate by 7.1% compared to the conventional double layered A3C. In addition, the goal achievement by the proposed method was 18.86% higher than that of the traditional double layered A3C over 20,000 learning episodes.

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