Generalized hierarchical block circulant structure of multi-agent systems

Iqbal, Muhammad; Leth, John; Ngo, Trung Dung

doi:10.1007/s12555-016-0027-5

Cited by 4 publications

(5 citation statements)

References 29 publications

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“…HTN is currently widely used in robotics, feature modeling, emergency response decision-making and other fields. The above discussion shows that HTN has a good adaptability to the solution of the decision-making scheme of emergency problems [12].…”

Section: Introductionmentioning

confidence: 85%

Multi-Agent Task Planning Based on Distributed Resource Scheduling under Command and Control Architecture

Zhang¹,

Wang²,

Song³

2019

Preprint

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For the task planning problem of the command and control architecture, the existing algorithms have problems such as low efficiency and poor re-planning quality under abnormal conditions. Based on the requirements of the current accusation architecture, this paper constructs a distributed command and control architecture model based on multi-agents, which makes use of the superiority of multi-agents in dealing with complex tasks. The concept of MultiAgents-HTN is proposed under the framework. The original hierarchical task network planning algorithm is optimized, the multi-agent collaboration framework is redefined, and the coordination mechanism of local conflict is designed. Taking the classical resource scheduling problem as the experimental background, the comparison between the proposed algorithm and the classical HTN algorithm is carried out. The experimental results show that the proposed algorithm has higher quality and higher efficiency than the existing algorithm, and the space anomaly is heavy during processing. The planning is more efficient, and the time is more complicated and superior in dealing with the same problem, with good convergence and adaptability. The conclusion proves that the distributed command and control architecture proposed in this paper has high practicability in related fields and can solve the problem of distributed command and control architecture in multi-agent environment.

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Section: Introductionmentioning

confidence: 85%

Multi-Agent Task Planning Based on Distributed Resource Scheduling under Command and Control Architecture

Zhang¹,

Wang²,

Song³

2019

Preprint

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“…e HTN has been extensively used in robotics, feature modelling, emergency response decision-making, etc. e above discussion suggests that the HTN exhibits a good adaptability to the solution of the decision-making scheme of emergency problems [13]. Moreover, targeted optimization is conducted in this paper based on the HTN to solve the decision-making generation problem of distributed accusation architecture.…”

Section: Complex External Situationmentioning

confidence: 99%

“…e basic process is to decompose complex tasks until they can be split into directly executable atomic-level tasks. After the decomposed tasks are achieved, task allocation is performed, and finally a decision scheme is yielded [13].…”

Section: Complex External Situationmentioning

confidence: 99%

“…e potential cooperative relationship detection is employed to detect whether there is a potential dependency or contradiction between the decision instruction of the agent and the decision instruction generated by other agents. After the potential cooperative relationship is confirmed, the situation interaction module releases its own situation information and cooperative relationship en return failure (4) else if U is primitive then (5) if (U, C) has a solution then (6) nondeterministically let π be any such solution (7) return π (8) else return failure (9) else (10) choose a nonprimitive task node u ∈ U (11) active ⟵ m ∈ M|task(m) is unifiable with t u (12) if active ≠ ∅ then (13) nondeterministically choose any m ∈ active (14) σ ⟵ an mgu for m and t u that renames all variables of m 6…”

Section: Multiagent Distributed Collaboration Frameworkmentioning

confidence: 99%

“…e reusable resource conflict coordination mechanism can be used by multiple decision-making agents simultaneously to generate repeated resource conflicts. For these resource conflicts, the tasks exhibiting higher priority are reserved and the tasks with lower priorities are coordinated (1) Procedure MA-HTN (s, T, D) (2) set s, initial state (3) set T, initial task set (4) set D, domain (5) initial operator ActionID � 0 (6) set P � the empty plan (7) T 0 ⟵ t belongs to T : no other task in T is constrained to precede t (8) loop (9) if T is empty then return P (10) nondeterministically choose any t in T 0 (11) if t is a primitive task then (12) choose a ground instance a for t with the smallest cost among the available resources (13) ActionID � ActionID + 1 (14) opmessage(a) � (ID, Resourceused(a), st(a), et(a), cost(a)) (15) sendlist ⟵ opmessage(a) (16) send opmessage(a) to the other planners (17) if receivelist ≠ ∅ : (18) ResourceID � Resourceused(a) (19) conflict actions a′ ⟵ a′ belongs to the extopmessages of receivelist : (20) has Resource(a′) � ResourceusedID and has the smallest st(a′) (21) and duration(st, et) is overlapped with duration(st′, et′)}, then (22) if st < st′ (23) delete the rest extopmessage in receivelist (24) Resourcestate(r) � i, Resourcest(r) � st, Resourceet(r) � et (25) delete T in T 0 and add a into P (26) else if st > st′ (27) delete opmessage(a) in sendlist (28) Resourcestate(r) � i′, Resourcest(r) � st′, Resourceet(r) � et′ (29) Backtrack (30) else delete T in T 0 and add a into P (31) if t is a nonprimitive task then (32) choose a method to decompose t into subtasks t 1 , t 2 , . .…”

Section: Coordination Mechanism Of Local Conflicts For the Contradicmentioning

confidence: 99%

See 2 more Smart Citations

Multiagent Task Planning Based on Distributed Resource Scheduling under Command and Control Structure

Zhang

Gang

Song

et al. 2019

Mathematical Problems in Engineering

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For task planning of the command and control structure, the existing algorithms exhibit low efficiency and poor replanning quality under abnormal conditions. Given the requirements of the current accusation architecture, a distributed command and control structure model is built in this paper based on multiagents, which exploits the superiority of multiagents in achieving complex tasks. The concept of MultiAgent-HTN is proposed based on the framework. The original hierarchical task network planning algorithm is optimized, the multiagent collaboration framework is redefined, and the coordination mechanism of local conflict is developed. With the classical resource scheduling problem as the experimental background, the proposed algorithm compared with the classical HTN algorithm is drawn. According to the experimental results, the proposed algorithm exhibits higher quality and higher efficiency than the existing algorithm and the space anomaly is significant in the course of processing. The planning is more efficient and the time is more complicated and superior in solving the same problem, and the algorithm exhibits good convergence and adaptability. In the conclusion, it is proved that the distributed command and control structure proposed in this paper exhibits high practicability in relevant fields and can solve the problem of distributed command and control structure in a multiagent scenario.

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