In a swarm of robots the individual entities can profit from cooperation, emerge new behaviors and can increase the overall fitness. In a more advanced approach, robots work not only collectively, but can also aggregate into multi-robot organisms and can share energy, resources and functionality. This approach provides many advantages for robotic systems: the aggregated organism, considered as one robot, possesses an extended reliability, adaptivity and evolve-ability. In this paper we present the vision and the ongoing work in the large integrated European project "SYMBRION", dealing with self-assembling of swarm robots. We point out different challenges in the field of hardware and software as well as describe main principles of evolve-ability applied to the platform.
{"title":"Evolve-Ability of the Robot Platform in the Symbrion Project","authors":"F. Schlachter, E. Meister, S. Kernbach, P. Levi","doi":"10.1109/SASOW.2008.31","DOIUrl":"https://doi.org/10.1109/SASOW.2008.31","url":null,"abstract":"In a swarm of robots the individual entities can profit from cooperation, emerge new behaviors and can increase the overall fitness. In a more advanced approach, robots work not only collectively, but can also aggregate into multi-robot organisms and can share energy, resources and functionality. This approach provides many advantages for robotic systems: the aggregated organism, considered as one robot, possesses an extended reliability, adaptivity and evolve-ability. In this paper we present the vision and the ongoing work in the large integrated European project \"SYMBRION\", dealing with self-assembling of swarm robots. We point out different challenges in the field of hardware and software as well as describe main principles of evolve-ability applied to the platform.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134475902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We describe a biologically-inspired approach to modeling self-adapting behavior of NASA swarm-based exploration missions, whereby individual entities in the system can sacrifice themselves for the greater good of the entire system. We investigate aspects of possible emergent self-adapting behavior of swarm-based systems, inspired by the self-sacrifice behavior observed in some hive cultures. Moreover, we propose an ASSL specification model for the self-sacrifice behavior of the swarm individuals. ASSL (Autonomic System Specification Language) is a specification language dedicated to autonomic systems, and with which we have been experimenting with some positive results.
{"title":"ASSL Specification of Emergent Self-Adapting Behavior for NASA Swarm-Based Exploration Missions","authors":"Emil Vassev, M. Hinchey","doi":"10.1109/SASOW.2008.19","DOIUrl":"https://doi.org/10.1109/SASOW.2008.19","url":null,"abstract":"We describe a biologically-inspired approach to modeling self-adapting behavior of NASA swarm-based exploration missions, whereby individual entities in the system can sacrifice themselves for the greater good of the entire system. We investigate aspects of possible emergent self-adapting behavior of swarm-based systems, inspired by the self-sacrifice behavior observed in some hive cultures. Moreover, we propose an ASSL specification model for the self-sacrifice behavior of the swarm individuals. ASSL (Autonomic System Specification Language) is a specification language dedicated to autonomic systems, and with which we have been experimenting with some positive results.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132497650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Alexandre Devert, Nicolas Bredèche, Marc Schoenauer
This paper introduces an approach based on artificial embryogeny for truss design to address the problem of finding the best truss structure for a given loading. In this setup, the basic idea is to optimize the size and length of beams in a truss through the actions of a set of cells that are distributed over the very truss structure. Given information at the mechanical level (beam strain), each cell controller is able to modify the local truss structure (beam size and length) during a developmental process. The advantage of such a method relies on the idea that a template cell controller is duplicated over all cells, keeping the optimization search space very low, while each cell may act in a different manner depending on local information. This approach is demonstrated on a classical benchmark, the "cantilever": resulting organisms are shown to provide very interesting and unique properties regarding reuse of optimized genotypes in noisy or higher-dimension settings.
{"title":"Arti?cial Ontogeny for Truss Structure Design","authors":"Alexandre Devert, Nicolas Bredèche, Marc Schoenauer","doi":"10.1109/SASOW.2008.53","DOIUrl":"https://doi.org/10.1109/SASOW.2008.53","url":null,"abstract":"This paper introduces an approach based on artificial embryogeny for truss design to address the problem of finding the best truss structure for a given loading. In this setup, the basic idea is to optimize the size and length of beams in a truss through the actions of a set of cells that are distributed over the very truss structure. Given information at the mechanical level (beam strain), each cell controller is able to modify the local truss structure (beam size and length) during a developmental process. The advantage of such a method relies on the idea that a template cell controller is duplicated over all cells, keeping the optimization search space very low, while each cell may act in a different manner depending on local information. This approach is demonstrated on a classical benchmark, the \"cantilever\": resulting organisms are shown to provide very interesting and unique properties regarding reuse of optimized genotypes in noisy or higher-dimension settings.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114893828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We present a distributed connectivity service that allows agents in a mobile ad-hoc network to move while preserving connectivity. This allows unmodified motion planning algorithms to control the trajectories of each robot independently, these trajectories are fed to the service which modifies them as little as possible to ensuring global connectivity. Since we require only short term targets the service can be used with online motion planning where the complete trajectory is not known a priori. For most motions the algorithm requires only local knowledge of the graph, and therefore scales up with the number of agents.
{"title":"Connectivity Service for Mobile Ad-Hoc Networks","authors":"Alejandro Cornejo, N. Lynch","doi":"10.1109/SASOW.2008.62","DOIUrl":"https://doi.org/10.1109/SASOW.2008.62","url":null,"abstract":"We present a distributed connectivity service that allows agents in a mobile ad-hoc network to move while preserving connectivity. This allows unmodified motion planning algorithms to control the trajectories of each robot independently, these trajectories are fed to the service which modifies them as little as possible to ensuring global connectivity. Since we require only short term targets the service can be used with online motion planning where the complete trajectory is not known a priori. For most motions the algorithm requires only local knowledge of the graph, and therefore scales up with the number of agents.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132905908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
C. Goumopoulos, A. Kameas, H. Hagras, V. Callaghan, M. Gardner, W. Minker, M. Weber, Y. Bellik, A. Meliones
ATRACO is an EU funded R&D project that considers ambient ecologies consisting of people, context-aware artefacts and digital commodities (e.g., services and content). Members of the ecology are able to adapt to each other and form trusted ad hoc collaborations to achieve specific tasks resulting from the need to serve specific human goals. Our aim is to research the factors and develop the technologies that will lead to the realisation of such ecologies, following an interdisciplinary effort which involves Computer Science, HCI, AI, Control Theory and Sociology. Key factors of the ATRACO problem space to be examined include adaptation, interoperability, user interaction and dynamicity of trust. We focus our efforts on seeking abstractions and mechanisms for establishing trust relationships between its members and on devising adaptation mechanisms based on system behaviour modelling, supervisory control theory of discrete event systems and type-2 fuzzy systems.
{"title":"ATRACO: Adaptive and Trusted Ambient Ecologies","authors":"C. Goumopoulos, A. Kameas, H. Hagras, V. Callaghan, M. Gardner, W. Minker, M. Weber, Y. Bellik, A. Meliones","doi":"10.1109/SASOW.2008.13","DOIUrl":"https://doi.org/10.1109/SASOW.2008.13","url":null,"abstract":"ATRACO is an EU funded R&D project that considers ambient ecologies consisting of people, context-aware artefacts and digital commodities (e.g., services and content). Members of the ecology are able to adapt to each other and form trusted ad hoc collaborations to achieve specific tasks resulting from the need to serve specific human goals. Our aim is to research the factors and develop the technologies that will lead to the realisation of such ecologies, following an interdisciplinary effort which involves Computer Science, HCI, AI, Control Theory and Sociology. Key factors of the ATRACO problem space to be examined include adaptation, interoperability, user interaction and dynamicity of trust. We focus our efforts on seeking abstractions and mechanisms for establishing trust relationships between its members and on devising adaptation mechanisms based on system behaviour modelling, supervisory control theory of discrete event systems and type-2 fuzzy systems.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"48 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132364985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In evolutionary computer vision, algorithms are usually evolved which address one particular computer vision problem. Quite often, a set of training images is used to evolve an algorithm. Another set of images is then used to evaluate the performance of those algorithms. In contrast of this standard form of algorithm evolution, it is proposed to develop a vision system which continuously evolves algorithms based on the task at hand. This adaptation of computer vision algorithms would happen on-line for every image which is presented to the system. Such a system would continuously adapt to new environmental conditions.
{"title":"An Adaptive On-Line Evolutionary Visual System","authors":"M. Ebner","doi":"10.1109/SASOW.2008.18","DOIUrl":"https://doi.org/10.1109/SASOW.2008.18","url":null,"abstract":"In evolutionary computer vision, algorithms are usually evolved which address one particular computer vision problem. Quite often, a set of training images is used to evolve an algorithm. Another set of images is then used to evaluate the performance of those algorithms. In contrast of this standard form of algorithm evolution, it is proposed to develop a vision system which continuously evolves algorithms based on the task at hand. This adaptation of computer vision algorithms would happen on-line for every image which is presented to the system. Such a system would continuously adapt to new environmental conditions.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132374686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
On the one hand, natural phenomena of spontaneous pattern formation are generally random and repetitive, whereas, on the other hand, complicated heterogeneous architectures are the product of human design. The only examples of self-organized and structured systems are biological organisms produced by development. Can we export their precise self-formation capabilities to computing systems? This work proposes an "em-bryomorphic engineering" approach inspired by evo-devo to solve the paradoxical challenge of planning autonomous systems. Its goal is to artificially reconstruct complex morphogenesis by integrating three fundamental ingredients: self-assembly and pattern formation under genetic regulation. It presents a spatial computational agent-based model that can be equivalently con-strued as (a) moving cellular automata, in which cell rearrangement is influenced by the pattern they form, or (b) heterogeneous swarm motion, in which agents differentiate into patterns according to their location. It offers a new abstract framework to explore the causal and programmable link from genotype to pheno-type that is needed in many emerging computational domains, such as amorphous computing or artificial embryogeny.
{"title":"Spatial Self-Organization of Heterogeneous, Modular Architectures","authors":"R. Doursat","doi":"10.1109/SASOW.2008.65","DOIUrl":"https://doi.org/10.1109/SASOW.2008.65","url":null,"abstract":"On the one hand, natural phenomena of spontaneous pattern formation are generally random and repetitive, whereas, on the other hand, complicated heterogeneous architectures are the product of human design. The only examples of self-organized and structured systems are biological organisms produced by development. Can we export their precise self-formation capabilities to computing systems? This work proposes an \"em-bryomorphic engineering\" approach inspired by evo-devo to solve the paradoxical challenge of planning autonomous systems. Its goal is to artificially reconstruct complex morphogenesis by integrating three fundamental ingredients: self-assembly and pattern formation under genetic regulation. It presents a spatial computational agent-based model that can be equivalently con-strued as (a) moving cellular automata, in which cell rearrangement is influenced by the pattern they form, or (b) heterogeneous swarm motion, in which agents differentiate into patterns according to their location. It offers a new abstract framework to explore the causal and programmable link from genotype to pheno-type that is needed in many emerging computational domains, such as amorphous computing or artificial embryogeny.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128154364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper builds on the authors' work on security challenges in the more general pervasive domain and considers what demands the adaptive paradigm will make of the information assurance community, and conversely, what information-assurance concerns should inform the realisation of pervasive adaptation. We propose a set of concepts which would enable these concerns to be addressed should they be adopted within the pervasive adaptation community. Our purpose is to begin a consultation and debate within the community to understand what may or may not be reasonable and what else might be possible..
{"title":"Requirements and Concepts for Information Assurance and Pervasive Adaptation Co-design","authors":"S. Creese, M. Goldsmith","doi":"10.1109/SASOW.2008.68","DOIUrl":"https://doi.org/10.1109/SASOW.2008.68","url":null,"abstract":"This paper builds on the authors' work on security challenges in the more general pervasive domain and considers what demands the adaptive paradigm will make of the information assurance community, and conversely, what information-assurance concerns should inform the realisation of pervasive adaptation. We propose a set of concepts which would enable these concerns to be addressed should they be adopted within the pervasive adaptation community. Our purpose is to begin a consultation and debate within the community to understand what may or may not be reasonable and what else might be possible..","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"215 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115511172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the near future, it is reasonable to expect that new types of systems will appear, of massive scale that will operating in a constantly changing networked environment. We expect that most such systems will have the form of a large society of tiny networked artefacts. Angluin et al. introduced the notion of "probabilistic population protocols" (PPP) in order to model the behavior of such systems where extremely limited agents are represented as finite state machines that interact in pairs under the control of an adversary scheduler. We propose to study the dynamics of probabilistic population protocols, via the differential equations approach. We provide a very general model that allows to examine the continuous dynamics of population protocols and we show that it includes the model of Angluin et al., under certain conditions, with respect to the continuous dynamics of the two models. Our main proposal here is to exploit the powerful tools of continuous nonlinear dynamics in order to examine the behavior of such systems. We also provide a sufficient condition for stability.
{"title":"The Dynamics of Adaptive Networked Societies of Tiny Artefacts","authors":"I. Chatzigiannakis, P. Spirakis","doi":"10.1109/SASOW.2008.45","DOIUrl":"https://doi.org/10.1109/SASOW.2008.45","url":null,"abstract":"In the near future, it is reasonable to expect that new types of systems will appear, of massive scale that will operating in a constantly changing networked environment. We expect that most such systems will have the form of a large society of tiny networked artefacts. Angluin et al. introduced the notion of \"probabilistic population protocols\" (PPP) in order to model the behavior of such systems where extremely limited agents are represented as finite state machines that interact in pairs under the control of an adversary scheduler. We propose to study the dynamics of probabilistic population protocols, via the differential equations approach. We provide a very general model that allows to examine the continuous dynamics of population protocols and we show that it includes the model of Angluin et al., under certain conditions, with respect to the continuous dynamics of the two models. Our main proposal here is to exploit the powerful tools of continuous nonlinear dynamics in order to examine the behavior of such systems. We also provide a sufficient condition for stability.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125989771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Modern distributed systems are often characterized by very large scale, poor reliability, and extreme dynamism of the participating nodes, with a continuous flow of nodes joining and leaving the system. In order to develop robust applications in such environments, middleware services aimed at dealing with the inherent unpredictability of the underlying networks are required. One such service is aggregation. In the aggregation problem, each node is assumed to have attributes. The task is to extract global information about these attributes and make it available to the nodes. Examples include the total free storage, the average load, or the size of the network. Efficient protocols for computing several aggregates such as average, count, and variance have already been proposed. In this paper, we consider calculating the rank of nodes, where the set of nodes has to be sorted according to a numeric attribute and each node must be informed about its own rank in the global sorting. This information has a number of applications, such as slicing. It can also be applied to calculate the median or any other percentile. We propose T-Rank, a robust and completely decentralized algorithm for solving the ranking problem with minimal assumptions. Due to the characteristics of the targeted environment, we aim for a probabilistic approach and accept minor errors in the output. We present extensive empirical results that suggest near logarithmic time complexity, scalability and robustness in different failure scenarios.
{"title":"Decentralized Ranking in Large-Scale Overlay Networks","authors":"A. Montresor, Márk Jelasity, Özalp Babaoglu","doi":"10.1109/SASOW.2008.17","DOIUrl":"https://doi.org/10.1109/SASOW.2008.17","url":null,"abstract":"Modern distributed systems are often characterized by very large scale, poor reliability, and extreme dynamism of the participating nodes, with a continuous flow of nodes joining and leaving the system. In order to develop robust applications in such environments, middleware services aimed at dealing with the inherent unpredictability of the underlying networks are required. One such service is aggregation. In the aggregation problem, each node is assumed to have attributes. The task is to extract global information about these attributes and make it available to the nodes. Examples include the total free storage, the average load, or the size of the network. Efficient protocols for computing several aggregates such as average, count, and variance have already been proposed. In this paper, we consider calculating the rank of nodes, where the set of nodes has to be sorted according to a numeric attribute and each node must be informed about its own rank in the global sorting. This information has a number of applications, such as slicing. It can also be applied to calculate the median or any other percentile. We propose T-Rank, a robust and completely decentralized algorithm for solving the ranking problem with minimal assumptions. Due to the characteristics of the targeted environment, we aim for a probabilistic approach and accept minor errors in the output. We present extensive empirical results that suggest near logarithmic time complexity, scalability and robustness in different failure scenarios.","PeriodicalId":447279,"journal":{"name":"2008 Second IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127496026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：