Deployment of Multi-agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-based Behavior

2020 ◽  
Author(s):  
Ján Chudý ◽  
Nestor Popov ◽  
Pavel Surynek
Keyword(s):  
Centralized Control ◽  
Multi Agent

scholarly journals A Fully Distributed Approach for Economic Dispatch Problem of Smart Grid

Energies ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 1993 ◽  
Author(s):  
Bo Li ◽  
Yudong Wang ◽  
Jian Li ◽  
Shengxian Cao
Keyword(s):  
Smart Grid ◽  
Control Method ◽  
Economic Dispatch ◽  
Standard Test ◽  
Consensus Algorithm ◽  
Test Cases ◽  
Centralized Control ◽  
Distributed Approach ◽  
Multi Agent ◽  
Economic Dispatch Problem

The cooperative, reliable and responsive characteristics make smart grid more popular than traditional power grid. However, with the extensive employment of smart grid concepts, the traditional centralized control methods expose a lot of shortcomings, such as communication congestion, computing complexity in central management systems, and so on. The distributed control method with flexible characteristics can meet the timeliness and effectiveness of information management in smart grid and ensure the information collection timely and the power dispatch economically. This article presents a decentralized approach based on multi agent system (MAS) for solving data collection and economic dispatch problem of smart grid. First, considering the generators and loads are distributed on many nodes in the space, a flooding-based consensus algorithm is proposed to achieve generator and load information for each agent. Then, a suitable distributed algorithm called λ-consensus is used for solving the economic dispatch problem, eventually, all generators can automatically minimize the total cost in a collective sense. Simulation results in standard test cases are presented to demonstrate the effectiveness of the proposed control strategy.

scholarly journals A Communication Protocol Design aimed at a Multi-Agent System Framework for Miniaturized Satellite Systems

2020 ◽  
Author(s):  
Samantha Iteriano-Valverde ◽  
David Scazzoli ◽  
Carmen Chan-Zheng ◽  
Johan Carvajal-Godinez ◽  
Mauricio Magarini
Keyword(s):  
Control Unit ◽  
Protocol Design ◽  
Centralized Control ◽  
Distributed Architecture ◽  
Multi Agent Systems ◽  
Satellite Systems ◽  
Message Exchange ◽  
Multi Agent ◽  
Systems Framework ◽  
The Relationship

In recent years space-science and exploration have become more accessible due to the popularization of the concept of CubeSats. CubeSats are being used as a result of their convenient size and weight requirements, allowing for target missions to be designed, developed, and launched with a significant reduction of costs compared to traditional space missions.  Furthermore, the development of target missions has become more intricate, forcing a shift in the traditional notion of using a centralized control architecture to a distributed architecture.  A distributed architecture tackles the problem of a possible functionality loss over the control unit. This paper describes the extension of capabilities of the Multi-Agent Systems Framework for Embedded Systems (MAES). This extension provides MAES framework with the ability to perform inter-platform communication, so now the control unit architecture can be broadened allowing agents from different platforms to interact and perform cooperatively different routines designed by the developer, so it is not limited to the capabilities of just one platform. Moreover, this paper shows the results of the experimental setup showing the precision of inter-platform message exchange and the relationship between the delay of the exchange of inter-platform messages and the number of agents that are simultaneously running on each platform.

scholarly journals Security Measure to Detect and Avoid Flooding Attacks using Multi-Agent System in MANETS

2017 ◽  
Vol 7 (2) ◽  
pp. 919
Author(s):  
Bandana Mahapatra ◽  
Srikanta Patnaik
Keyword(s):  
Multi Agent System ◽  
Centralized Control ◽  
Agent System ◽  
Route Knowledge ◽  
Novel Technique ◽  
Adhoc Network ◽  
Security Measure ◽  
Flooding Attacks ◽  
Multi Agent ◽  
Vital Resource

Security is considered as one of the major challenge when it comes to infrastructure less and self dependent network without any centralized control. The vulnerability of Adhoc Network makes it susceptible to external attacks like flooding of hello messages or propagating fake routing messages etc. Such attacks generates a variety of problems like disturbing the network by flooding messages that results in waste of battery which is a vital resource to maintain the life span of the network. Most importantly cause agents to die when unable to reach destination due to fake routing messages causing a heavy loss on part of the nodes generating them to maintain the route knowledge.  The paper proposes a novel technique to identify the flooding attack and measure to overcome them using Multi-Agent system.

scholarly journals Virtual Machine Migration Strategy Based on Multi-Agent Deep Reinforcement Learning

2021 ◽  
Vol 11 (17) ◽  
pp. 7993
Author(s):  
Yu Dai ◽  
Qiuhong Zhang ◽  
Lei Yang
Keyword(s):  
Reinforcement Learning ◽  
Virtual Machine ◽  
Control Method ◽  
Edge Computing ◽  
Mobile Edge Computing ◽  
Centralized Control ◽  
Virtual Machine Migration ◽  
Migration Strategy ◽  
Computing Power ◽  
Multi Agent

Mobile edge computing is a new computing model, which pushes cloud computing power from centralized cloud to network edge. However, with the sinking of computing power, user mobility brings new challenges: since it is usually unstable, services should be dynamically migrated between multiple edge servers to maintain service performance, that is, user-perceived latency. Considering that Mobile Edge Computing is a highly distributed computing environment and it is difficult to synchronize information between servers, in order to ensure the real-time performance of the migration strategy, a virtual machine migration strategy based on Multi-Agent Deep Reinforcement Learning is proposed in this paper. The method of centralized training and distributed execution is adopted, that is, the transfer action is guided by the global information during training, and only the local observation information is needed to obtain the transfer action. Compared with the centralized control method, the proposed method alleviates communication bottleneck. Compared with other distributed control methods, this method only needs local information, does not need communication between servers, and speeds up the perception of the current environment. Migration strategies can be generated faster. Simulation results show that the proposed strategy is better than the contrast strategy in terms of convergence and energy consumption.

Design and Implementation of Swam Robotics using Flood Fill Algorithm

2017 ◽  
Vol 6 (4) ◽  
pp. 269
Author(s):  
Mary swarna Latha gade ◽  
GAjitha GAjitha ◽  
Deepthi. S
Keyword(s):  
Problem Solving ◽  
Wireless Communication ◽  
Global Model ◽  
Centralized Control ◽  
Moderate Size ◽  
Design And Implementation ◽  
Distributed Problem Solving ◽  
Multi Agent ◽  
Flood Fill

<p>Swam Intelligence provides a basis with which it is possible to explore collective (or distributed) problem solving without centralized control or the provision of a global model. This paper presents design and implementation of swam robotics in a multi-agent environment. At the beginning, robot agents are ignorant of the maze. The robots are programmed with Flood fill algorithm to solve maze. The robot scans maze and stores the values in EEPROM. The robot agent shares the information to other robot agents through wireless communication. The proposed flood fill algorithm is found to be effective tool for solving maze of moderate size.</p>

scholarly journals Multi-Agent System with Plug and Play Feature for Distributed Secondary Control in Microgrid—Controller and Power Hardware-in-the-Loop Implementation

Energies ◽  
2018 ◽  
Vol 11 (12) ◽  
pp. 3253 ◽  
Author(s):  
Tung-Lam Nguyen ◽  
Efren Guillo-Sansano ◽  
Mazheruddin Syed ◽  
Van-Hoa Nguyen ◽  
Steven Blair ◽  
...  
Keyword(s):  
Frequency Control ◽  
Test Case ◽  
Hardware In The Loop ◽  
Multi Agent System ◽  
Centralized Control ◽  
Secondary Control ◽  
Plug And Play ◽  
Agent System ◽  
Promising Alternative ◽  
Multi Agent

Distributed control and optimization strategies are a promising alternative approach to centralized control within microgrids. In this paper, a multi-agent system is developed to deal with the distributed secondary control of islanded microgrids. Two main challenges are identified in the coordination of a microgrid: (i) interoperability among equipment from different vendors; and (ii) online re-configuration of the network in the case of alteration of topology. To cope with these challenges, the agents are designed to communicate with physical devices via the industrial standard IEC 61850 and incorporate a plug and play feature. This allows interoperability within a microgrid at agent layer as well as allows for online re-configuration upon topology alteration. A test case of distributed frequency control of islanded microgrid with various scenarios was conducted to validate the operation of proposed approach under controller and power hardware-in-the-loop environment, comprising prototypical hardware agent systems and realistic communications network.

scholarly journals AntAlate—A Multi-Agent Autonomy Framework

2021 ◽  
Vol 8 ◽  
Author(s):  
David Dovrat ◽  
Alfred M. Bruckstein
Keyword(s):  
Systems Approach ◽  
Single Agent ◽  
Real Life ◽  
Emergent Behavior ◽  
Centralized Control ◽  
Multi Agent Systems ◽  
Human In The Loop ◽  
Aerial Vehicle ◽  
Multi Agent ◽  
Application Developers

AntAlate is a software framework for Unmanned Aerial Vehicle (UAV) autonomy, designed to streamline and facilitate the work of application developers, particularly in deployment of Multi-Agent Robotic Systems (MARS). We created AntAlate in order to bring our research in the field of multi-agent systems from theoretical results to both advanced simulations and to real-life demonstrations. Creating a framework capable of catering to MARS applications requires support for distributed, decentralized, control using local sensing, performed autonomously by groups of identical anonymous agents. Though mainly interested in the emergent behavior of the system as a whole, we focused on the single agent and created a framework suitable for a system of systems approach, while minimizing the hardware requirements of the single agent. Global observers or even a centralized control can be added on top of AntAlate, but the framework does not require a global actor to finalize an application. The same applies to a human in the loop, and fully autonomous UAV applications can be written in as straightforward a way as can semi-autonomous applications. In this paper we describe the AntAlate framework and demonstrate its utility and versatility.

EVALUATING PERFORMANCE AND ACCURACY OF A SENTINEL-BASED EXCEPTION DIAGNOSIS APPROACH FOR P2P AGENT SYSTEMS

2006 ◽  
Vol 07 (04) ◽  
pp. 493-506
Author(s):  
NAZARAF SHAH ◽  
NICK GODWIN ◽  
BABAK AKHGAR ◽  
JAWED SIDDIQI
Keyword(s):  
Distributed Artificial Intelligence ◽  
Centralized Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Trade Offs ◽  
Service Consumer ◽  
Multi Agent ◽  
Diagnosis Approach ◽  
Exception Diagnosis

Using open Multi-agent systems (MAS) to represent a peer-to-peer (P2P) organization is a complex application of distributed artificial intelligence. These systems are designed to create networked applications where each peer node contributes to the overall functionality of the application. Each agent in such systems acts as a peer and has no fixed role. In other words a peer may assume the role of either service provider or service consumer in a given interaction. The dynamics of these networked applications make them vulnerable to different kinds of exceptions. Also the absence of centralized control and changes in organizational structure gives rise to unpredictable exceptions. It becomes essential to have some exception diagnosis mechanisms in place to be able to diagnose the cause of such exceptions while preserving the autonomy of the peer agents. These mechanisms do come with some overheads. In this paper we present an evaluation of the application of our proposed sentinel based approach to exception diagnosis in P2P based MAS and also discuss the trade offs that arise in using a sentinel based approach to exception diagnosis in such systems.

scholarly journals PIM: A Novel Architecture for Coordinating Behavior of Distributed Systems

AI Magazine ◽  
2010 ◽  
Vol 31 (2) ◽  
pp. 9 ◽  
Author(s):  
Kenneth M. Ford ◽  
James Allen ◽  
Niranjan Suri ◽  
Patrick J. Hayes ◽  
Robert Morris
Keyword(s):  
Distributed Systems ◽  
Coupled Systems ◽  
System Level ◽  
Communication Overhead ◽  
Centralized Control ◽  
Research Issues ◽  
Loosely Coupled ◽  
Multi Agent ◽  
Complex Settings ◽  
High Level

Process integrated mechanisms (PIM) offer a new approach to the problem of coordinating the activity of physically distributed systems or devices. Current approaches to coordination all have well-recognized strengths and weaknesses. We propose a novel architecture to add to the mix, called the Process Integrated Mechanism (PIM), which enjoys the advantages of having a single controlling authority while avoiding the structural difficulties that have traditionally led to its rejection in many complex settings. In many situations, PIMs improve on previous models with regard to coordination, security, ease of software development, robustness and communication overhead. In the PIM architecture, the components are conceived as parts of a single mechanism, even when they are physically separated and operate asynchronously. The PIM models offers promise as an effective infrastructure for handling tasks that require a high degree of time-sensitive coordination between the components, as well as a clean mechanism for coordinating the high-level goals of loosely coupled systems. PIM models enable coordination without the fragility and high communication overhead of centralized control, but also without the uncertainty associated with the system-level behavior of a MAS.The PIM model provides an ease of programming with advantages over both multi-agent sys-tems and centralized architectures. It has the robustness of a multi-agent system without the significant complexity and overhead required for inter-agent communication and negotiation. In contrast to centralized approaches, it does not require managing the large amounts of data that the coordinating process needs to compute a global view. In a PIM, the process moves to the data and may perform computations on the components where the data is locally available, sharing only the information needed for coordination of the other components. While there are many remaining research issues to be addressed, we believe that PIMs offer an important and novel tech-nique for the control of distributed systems.

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